[ODE] Consistency

[Henri Hakl]

You can set joint velocities and maxforces to zero with the following
technique:

dJointSetAMotor(jointID, dParamVel, 0);

Though if maxforces are constant I don't think they need to be reset...? The
velocity can easily be fixed to zero - but I set them with each simulation
step anyway, so it shouldn't be necessary to set them to zero beforehand.
Still it seems there is some area of inconsistency somewhere in my
Simulation that I haven't been able to figure out. We'll have to see...


----- Original Message -----
From: "Peggy Skelly" <mxs70@po.cwru.edu>
To: <ode@q12.org>
Sent: Tuesday, March 18, 2003 5:40 PM
Subject: Re: [ODE] Consistency


> That's probably the problem (non-zero joint feedback right after
reinitialization - when there should be zero feedback - seems to confirm
it). But how do I reset the joint velocities? I thought that resetting the
bodies to their initial positions and zero velocities would carry the joints
along, and they'd also be back at their initial position with no velocity.
>
> Peggy
>
> >How about joint velocity and fmax?
> >
> >Just a thought,
> >David
> >
> >> Does your consistency issue have anything to do with the earlier
> >> "Reset" question? I also wanted a quick way to reset the initial
> >> conditions of a simulation, and I liked your solution of just
> >> resetting the positions, quaternions, linear and angular velocities.
So
> >> I tried that out over the weekend. I found that after resetting,
> >> although all the positions and velocities were correct (as i set
> >> them), the simulation proceeded differently. Is there something else
> > > that I need to reinitialize?
> > >
> > > Peggy
> > >
> > >>Hi - just a quick question, is ODE deterministically consistent? In
> >>> other words will it (even in complex systems) always produce the  same
> >>> results?
>
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