[ODE] solving penetrations "statically"

Anton Shekhovtsov anton at creoteam.com
Thu Jun 8 06:37:47 MST 2006

Thanx, you are right - I am not familiar with PGS.
Do you know if such approach with two solutions was implemented somewhere?

----- Original Message -----
From: "Erin Catto" <erincatto at sbcglobal.net>
To: <ode at q12.org>
Sent: Thursday, June 08, 2006 3:47
Subject: Re: [ODE] solving penetrations "statically"

> Right, ODE uses a Baumgarte style position correction by feeding back the
> position error into the velocity constraint. This works well for getting
> closer to the right position by the end of the step. However, the
> term affects the momentum and that can be undesirable. The propagated
> velocity should not involve position feedback. Rather than solve two LCPs
> (one in velocity and one in position), one can cheat and solve the two
> simultaneously using the PGS algorithm. The first LCP is the one already
> used by ODE (with position correction). The second LCP is the pure
> problem.
> I'm sorry if this is confusing. I am assuming (possibly incorrectly) that
> the OP understands the PGS algorithm. If not, I suggest reading Kenny
> Erleben's thesis (http://www.diku.dk/~kenny) or checking out the articles
> my site (http://www.gphysics.com).
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