[ODE] Controlling object speed externally

Bram Stolk b.stolk at gmail.com
Wed Oct 3 09:05:42 MST 2007

What are your ERP and CFM values?
Use a non-zero CFM and a ERP smaller than 1.


On 10/3/07, Crestez Dan Leonard <cdleonard at gmail.com> wrote:
> Hello
> I'm using ODE by completely controlling object position/speed/etc from
> my code and only letting ODE control them after the first collision. I
> want to use only ODE for collision detection and response, not motion.
> Is this acceptable or should I try to use motors or explicit forces
> instead? It seems to almost work.
> I have a problem: When objects crash they start "wobbling" on the
> ground. I disabled all bounciness but objects seems to oscillate a lot
> on the ground. For instance a large box will first "pivot" on the edge
> and then go back and pivot on the back edge and raise to almost the
> same height. They take way too much time to stabilise. I saw this FAQ
> entry:
> http://opende.sourceforge.net/wiki/index.php/FAQ#How_do_I_stop_things_from_rolling_off_into_infinity.2C_or_pendulums_from_swinging_forever.3F
> I tried to implement "rolling friction" with something like
> AddTorque(-0.1 * GetAngularVel()) but it didn't work. Shouldn't the
> inertia tensor be involved here somehow? Or perhaps it should be
> implemented for each contact point? I have no idea.
> Perhaps it actually happens because I control the objects by hand
> before collision?
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Zapp: Captain's log, stardate...er..
Kif: Ohhh. April 13th.
Zapp: April 13th. Point 2.
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