[ODE] Contact joints simulating rough surfaces

[Nate W]

On Wed, 19 Mar 2003, Michal Bacik wrote:

> Thinking about grass - in reality it seems to apply forces into various
> parts of rigid body. Simulating friction into center of body could do it,
> but I can't come with an idea how to compute the force direction and length.
> It could be proportional to linear velocity, but when I tested it, the
> sphere never stopped - it moved more slowly, but kept moving :( I'd need to
> stop it completely unless other forces (e.g. when ground is enough steep)
> make it overcome the stopping forces.

Perhaps you need different coefficients for static and sliding friction?  
E.g if the speed gets low enough, use a larger friction force, maybe 2x or
so, whatever it takes to hold the object in place on a reasonably shallow
slope.

-- 

Nate Waddoups
Redmond WA USA
http://www.natew.com