[ODE] penalty method

[Sergio Valverde]

So long ago I tryed to implement a physic engine for my comercial game which
is based 
on penalty methods for resting (or continous) contact. I remembered myself
reading
the Wu's presentation and trying to implement his ideas (...) In case of
"sudden" and
"hard" collisions,  instantaneous impulses apply (like in the old and good
Baraff papers).  It was *VERY*
difficult to tune the system for stability

1)  This approach results in very tight coupling between the physics
low-level simulation
and more high level controls (for instance: the AI code which lays on top of
the low sim layer)
The system isn't very modular and was the 1st source of major headaches ...

2) 

-----Original Message-----
From: nlin@nlin.net [mailto:nlin@nlin.net]
Sent: miercoles, 23 de octubre de 2002 6:07
To: ode@q12.org
Subject: Re: [ODE] penalty method


Gary R. Van Sickle wrote:

> > Every one say penalty method is bad, but has anybody actually tried it?
> 
> I'd wager that pretty much *everybody* has actually tried it.  It's bad.

I believe by "it" the original poster was talking about David Wu's
bag of tricks for penalty methods, not the penalty technique in general.

> > I am
> > talking about David Wu's gdc talk. Has any one actually implemented his
> > method? Not trying to start a fight here, just going through all the
> > alternatives...
> 
> I don't know what Mr. Wu had to say

See http://www.pseudointeractive.com/games/penaltymethods.ppt

Unfortunately, I was not able to attend this talk, so the slides are
my only source of information on David Wu's techniques for penalty methods.
He seems to swear by them. I, too, am interested in hearing from people who
have tried David Wu's suggestions, since most penalty sims suffer from
the well-known problems.

-Norman
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