[ODE] friction

[Russ Smith]

>   So how does ODE determines the 'default' friction direction? I 
> mean, if I have an object standing static on a table and a robot 
> grabs it and lift it up, will setting mode=0 and mu=something give me 
> the right behaviour (i.e. the friction vectors will be set correctly, 
> pointing down?)

ODE uses the dPlaneSpace() function to get two vectors that are
orthogonal to the contact normal vector. the orientation of these
vectors for a given normal is predictable, but arbitrary.

russ.

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