[ODE] Re: Ball joint ERP and CFM?

[Adam Rotaru]

Adam D. Moss wrote:
> Amund Børsand wrote:
> > Should I make my own functions which calculate and
> > apply forces  directly
> > to the rigid bodies, or should I for instance use
> > ball joints with very
> > soft cfm / erp values?
> 
> The manual suggests the latter, but doesn't go into
any
> detail. I'm quite interested in the answer myself!


Amund Borsand wrote:
> How can I set ERP and CFM values of a ball joint?
> According to the documentation there seem to be no
> function like dJointSetHingeParam()
> for the ball joint.. ? Is there no CFM/ERP with ball
> joints?


Hi,
I have successfully used a soft ball joint instead of 
spring.  Finding the right CFM/ERP values takes some
time; the formulas to convert between CFM/ERP and
spring constants are useful (in the doc).
The problem is that setting CFM/ERP values for ball
joints is not implemented (as it is for hinge joints).
I looked into it, and it turned out fairly easy to
implement them.  Patch follows.
cheers,
  Adam R.



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