irrisor at dev.java.net
Sun Oct 7 11:22:41 MST 2007
Hi, just want to give more background for the reason I'm posting about that
assert in dNormalize:
> The condition in dNormalize4 _can_ be false! E.g. when called from dxStepBody in
> dxQuickStepper after SOR_LCP has computed NaN values for cforce.
I have some apps running into this issue, and as I could not track it down to
contact generation or bug in the lcp solver I circumvent it by moving the body a
tiny little bit if NaN is the result. With an dAssert instead of instead of
dDebugMsg in dNormalize4 I cannot recover from that ODE internal error any more.
More information about the ODE