[ODE] Collisions time steps & tunneling effect

[Fig TaTam]

This reminded me of something - currently, the 'return velocity' is directly 
proportional to depth of penetration, right? Why not have a global variable 
that limits the maximum 'return velocity'?


>From: "gl" <gl@ntlworld.com>
>To: <ode@q12.org>
>Subject: Re: [ODE] Collisions time steps & tunneling effect
>Date: Tue, 22 Jul 2003 15:09:09 +0100
>
>
>My partial dHeightfield contribution addresses this problem.  It treats
>heightfield triangles similar to planes, in that it extends the field's 
>bbox
>floor by a certain amount beyond what it would be otherwise (currently
>hardcoded at 100units).  The collision detection will then kick out objects
>even after deep penetrations - but just as with planes, the downside is 
>that
>the deeper the intersection, the more violent the outward push is.  Really
>deep penetrations will make things go flying!
>
>The reason I didn't make the depth inifite btw is that I personally didn't
>want this for various reasons - but you can easily modify the code to suit.
>
>Before you jump into that, it currently only supports spheres.  I was 
>hoping
>to spend some more time on it, but I won't be able to any time soon, so
>you're on your own there.  Fabian Herb was also working on box support (how
>far did you get Fab?).
>--
>gl

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