Re[1]: [ODE] Negative penetration depths

[Russ Smith]

> is that a contact constraint says :
> "this point must not travel beyond this planar distance"

constraints may be *described* (e.g. in the literature) as statements
about position, but they are almost always *implemented* as equations
involving velocity or acceleration. ODE's contact constraint says:
"these two points on these two bodies must have a positive separation
velocity as measured along the contact normal, and the force required to
separate them must also be positive".

russ.

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