[ODE] joint friction

[Russ Smith]

> i may be asking something that is documented somewhere.
> but anyhow ... is there a way to enable friction in the joints?

there is a good and simple way to do this. set the joint 'fmax' parameter
to some (positive) value. set the desired velocity parameter to 0. now the
joint will exert a force up to fmax to bring the joint velocity down to 0.
this is actually a pretty good model of coulomb friction for a joint.
changing fmax to be higher will give more friction - and there's no
stability problem with choosing any value of fmax >= 0.

russ.

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