[ODE] ODE with non-penetration constraint

Huang Rubby rubbybaby at gmail.com
Wed Jul 11 19:30:26 MST 2007

So such penetration was coming from the "bad" solution of LCP solver, which
will generate a bigger normal contact forces, in my case the normal contact
will be more than m*g,  to  bounce back such  penetration.
Please point me out if my understanding was not right.
As for the "soft" contact parameters - erp and cfm, how are they related to


On 7/11/07, Huang Rubby <rubbybaby at gmail.com> wrote:
> 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
> (vertical)
> 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.
> Ruby
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