[ODE] friction

[Russ Smith]

> When I am about to take a simulation step, I have to fill the
> dContact's fdir1 vector for all contacts.

only if you specify the dContactFDir1 flag. this only needs to be
given if you want different friction properties along the two friction
directions.

> Also, on the documentation, says that dContact's 'mode' is a
> combination of one ore more flags. If I don't want friction, witch
> flag should I put?

none. use mu=0 to get frictionless contacts.

russ.

--
Russell Smith
http://www.q12.org