[ODE] Stupid newbie questions

[Alexandre Tolmos]

Hi all,

I would like to use Ode in my own pet project but I have some concerns  
about the collision detection mechanism.

 From what I understand collision detection is only run once during a  
simulation step and makes no attempt at trying to prevent bodies from  
interpenetrating.  How is the impact on the simulation quality and  
numerical stability ?

In case of a fixed framerate simulation (let's say 60 or 50 Hz on a  
console), would running twice the collision detection and dynamics with  
a halfed timestep improve significantly the quality of the simulation  
(at the expense of a heavier computational load) ? Or would it be more  
efficient to implement a system where collision detection finds exact  
contact points and simulation is stepped back then restarted from the  
first collision time ?

Cheerz

Alex

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Alexandre Tolmos
E-mail: ktulu@free.fr
ICQ: 92964905
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"Ph'nglui mglw'nafh Cthulhu R'lyeh wgah'nagl fhtagn."
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