[ODE] ODE Physics Benchmark Setup

Adrian Boeing junk at adrianboeing.com
Thu Oct 25 00:18:41 MST 2007


I was wondering what the best ODE configuration would be in order to 
a) The best accuracy (in terms of following the ideal physical models)
b) The best performance (in terms of computational efficiency).

In particular, I am referring to:
1. Which "stepper" to use (at the moment, I use WorldStep)
2. How the dSpaceCollide callback should be structured.

(the application(s) which this would apply to are the PAL benchmarks : 
http://www.adrianboeing.com/pal/benchmark.html#benchmark, so friction, 
restitution, links, etc are all important for the callback)


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