[ODE] solving penetrations "statically"

[Anton Shekhovtsov]

Are you using it in a game?
How well it performs? What kind of errors you still measure?
Did you modify the ODE source code for that purpose? Can you share the
patch?


----- Original Message -----
From: "Dirk Gregorius" <dirk at dirkgregorius.de>
To: <ode at q12.org>
Sent: Wednesday, June 07, 2006 20:39
Subject: Re: [ODE] solving penetrations "statically"


> Erin Catto wrote:
>
> >>The first set includes the position correction while the second
> >>set does not. Apply the first set to generate non-persistant velocities
that
> ><are simply used to update the positions.
>
> Do you mean that the first set includes position correction *and* relative
> velocites and the second set only inludes relative velocites or do mean
that
> the first set includes *only* position corrections and the second set
*only*
> relative velocities. In formulas:
>
> J*W*JT * lambda1 = ERP * C(x,q) * / dt - JT * v
> J*W*JT * lambda2 = -JT * v
>
> or
>
> J*W*JT * lambda1 = ERP * C(x,q) * / dt
> J*W*JT * lambda2 = -JT * v
>
>
> I used thte second example it this worked fine for me. I wonder if this
> was incorrect and if so - why?
>
>
>
> -Dirk
>
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