[ODE] dWorldStepFast and bouncing bodies

[Drealmer]

Hi,


When I use dWorldStepFast1 instead of dWorldStep, the dynamic bodies (body + geom) are not bouncing on each other, but still
bouncing on static geometry (geom without body) can someone explain me why, and what I can do about this ?

Here's how to reproduce the problem with the "boxstack" sample :

1. line 85 : change to "contact[i].surface.bounce = 0.75;"
2. line 357 : change to "if (!pause) dWorldStepFast1 (world,0.05, 10);"
3. compile and run the program
4. hit "r" key to allow the object to be generated at the same place.
5. hit "s" to create a sphere, and see how it bounces on the ground plane.
6. hit "s" a second time, and see the new sphere not bouncing at all on the first one...

Changing line 357 back to using dWorldStep works perfectly.
I also noticed that if the upper sphere is a lot smaller than the one under, it bounces even with dWorldStepFast1.


Fabrice