[ODE] asymmetry in simulation

Erin Catto erincatto at sbcglobal.net
Tue Jan 3 11:06:08 MST 2006

Drift is normal in numerical integration. If you can't tolerate drift then
you need to enforce symmetry. Perhaps you can use some sort of feedback.


From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On Behalf Of Kay
Sent: Monday, January 02, 2006 11:38 AM
To: ODE at q12.org
Subject: [ODE] asymmetry in simulation

Hi, All:
I built a character with perfect symmetric limbs with amotors, but somehow
after only one step of simulation the velocities of the left and right side
of the bodies start to differ(around 1e-17 for a simulation step about
0.001), with or without symmetric forces. Is this normal due to the
simulation errors? Is there anyway to preserve symmetry? Or maybe there is
something that I did wrong which caused the asymmetric drifts? 
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