[ODE] box vs xxxx colliders

LR logreg at free.fr
Thu Mar 22 05:04:20 MST 2007


Using 0.001 (when world units are about metter) is very great : contacts
points are more stable.

Thank you for the help.


-----Message d'origine-----
De : ode-bounces at ode.org [mailto:ode-bounces at ode.org] De la part de Bram
Envoyé : mardi 13 mars 2007 10:49
Cc : ode at ode.org
Objet : Re: [ODE] box vs xxxx colliders

Jon Watte (ODE) wrote:
> Also, there is now some thin layer that is considered "acceptable" 
> within a collision, I think. I don't remember what it is called. You 
> may wish to set the size of that layer to 0, if it isn't already.

void  dWorldSetContactSurfaceLayer (dWorldID, dReal depth); dReal
dWorldGetContactSurfaceLayer (dWorldID); 

Set and get the depth of the surface layer around all geometry objects.
Contacts are allowed to sink into the surface layer up to the given depth
before coming to rest. The default value is zero. Increasing this to some
small value (e.g. 0.001) can help prevent jittering problems due to contacts
being repeatedly made and broken.

It would help if you render the contact points, as the 't' option of
test_boxstack does.
This way you can check if the contacts are ok, and whether they are
oscillating on/off or not.

> Cheers,
>           / h+
> Jon Watte (ODE) wrote:
>> Is the time step variable or fixed size?
>> What are your world ERP and CFM values? I'd try 0.5 ERP and 0.001 CFM 
>> for a stable simulation, and go from there.
>> Cheers,
>>           / h+
>> LR wrote:
>>> when i put a box on a static box, the geometry penetrates for 1 or 2 
>>> milimeters inside the static box (within 10 or 20 steps ) and then 
>>> is ejected : that cause something on a box is not really stable.
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Bram Stolk, VR Engineer SARA, Amsterdam.   tel +31 20 592 3000

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