[ODE] Making things slow down and stop

[Phil Teschner]

The reason that spheres don't stop rolling is that the contact isn't
modeling rolling friction and there is no drag in the system.

The easiest thing for you to do would be to add both linear and angular
drag to the system.

Something simple like this will slow down your system (though it's not
physically correct):

force = - drag_coefficient * mass * velocity
torque = - angular_drag_coefficient * inertia_matrix * angular_velocity

Note that drag due to air resistance is based on the square of velocity
not just velocity (like I showed above).

Phil

-----Original Message-----
From: Leaf Garland [mailto:leaf@tataput.com] 
Sent: Thursday, January 31, 2002 2:02 PM
To: 'odelist'
Subject: [ODE] Making things slow down and stop

Apologies for what is probably a very silly question.

I've recently started playing around with ODE and noticed that there
doesn't seem to be an obvious way of getting things to stop rolling. You
can see this in the box stack test if a sphere is dropped and hits
another object it will roll away for ever. I've tried playing with the
friction but it only seems to affect how much an object 'grips' while
it's spinning not the spin itself. I'm considering getting and adjusting
the objects angular velocity, is that the way to go?

Cheers,
Leaf.

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