SV: SV: [ODE] Particle/cloth/skeleton (was: Re: Choleski factorization)

[Joakim Eriksson]

> I'm not so worried about stuff passing through the cloth, 
> since it will
> probably be integrated into my iterated integrator, and stuff 
> would have
> to be going pretty dern fast to get through it at a .01 or smaller
> timestep.  I am worried, however, about penetration.  ODE 
> doesn't attempt
> to resolve a penetration until after it's happened in its 
> current state,
> which won't look all that nice for cloth.  But I could probably do a
> little work to the cloth collider and set up an inequality distance
> constraint between the cloth and every body "nearby" to fix 
> the most of
> that problem.... It'll take a while to work out the details.

Your iterated integrator might fix this for you. Im not sure.
It will fix it if your cloth is built up using normal (LCP) constraints.
If you try to join the two constraint solvers (LCP and the relaxation
verlet) you need to make sure that the systems knows about the
constraints
the other system places on it. The link between the two systems
are of course the collisions. I think its the only way to join
two diffrent constraint systems.

If I'm not mistaken so does the paper by David Baraff & Andrew Witkin
called "Partitioned dynamics" go into this problem.

/Joakim E. - http://www.planestate.net