[ODE] ODE spatial inconsistency
pilat at cpsc.ucalgary.ca
Wed Jun 20 19:07:49 MST 2007
Hmm... I think I came up with a solution.
But first, a question: what is the error on an ODE step?
It seems that using a step of 0.01, the error is about 1.0e-6, so if
after every step I take, I round off all the positions and
orientations of all my bodies to 1.0e-6, the simulation (at leas the
test one) produces consistent results. I always assumed that the
error of ODE is the dEpsilon value, but that is e-12 with double
Which brings me to my second question, if the error is so high, why
not make ode round off the error so that the behaviour of the engine
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