[ODE] ODE with non-penetration constraint

Huang Rubby rubbybaby at gmail.com
Wed Jul 11 13:11:10 MST 2007

Hi All,
on ODE manual, it says, "ODE has *hard* contacts. This means that a special
non-penetration constraint is used whenever two bodies collide."
But in my simulation example, which basicly was a ball rolling on ground,
somehow, I read out the contact point position and found the Z - direction
coordinates were -0.005. Which means the contact point was underground. How
did it happened? Since ODE has Hard contacts for each collision.
Any way to avoid such penetration? Thanks.

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