Re[1]: [ODE] Negative penetration depths

[Russ Smith]

> So adding a contact constraint at any time means that the object will
> not be able to move further along the normal vector, even if
> penetration depth is negative?

a contact joins two bodies. body 1 is pushed by an amount
preportional to penetration * normal, body 2 is pushed by the
negative of this amount.

> And what is the correct term for the maths you are using to
> reduce penetration if it is not a 'penalty method'?

ermmm ... i am in the habit of calling it the 'error reduction velocity'
or the 'error reduction term', as it's basically part of the 'c' in the
equation J*v=c.

russ.

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