[ODE] ERP and CFM in ODE

Peter Kyme pk at dneg.com
Mon Jul 16 03:09:34 MST 2007

There is a guide for creating new joints in ODE which explains ERP & CFM 
in detail.



Ke wrote:
> Hi All,
> The integration of ODE is based on complementarity
> impulse and velocity models of Stewart/Trinkle and
> Anitescu/Potra, which are based on non-penetration
> constraints. How are ERP and CFM in ODE related to
> above complementarity models in order to allow
> penetration happening? or which ODE sources codes(.cpp
> files) I should look into in order to know more about
> ERP and CFM?
> Thanks.
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