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

[david@csworkbench.com]

Yeah, I'll probably end up having to do collision detection on the cloth
every iteration :(  Otherwise, a penetration might happen on the 2nd of 5
iterations, and not get caught until the next step....  I'll definitely
read over that paper when I get a chance, though.

David

>> 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
>
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