[ODE] iterative solver: testing needed

[gl]

Small problem compiling the test on MS VC:

ode/test/test_crash.cpp(205) : error C2086: 'i' : redefinition

simply remove "int i" at line 172.
--
gl


----- Original Message -----
From: <david@csworkbench.com>
To: <ode@q12.org>
Sent: Friday, March 28, 2003 3:32 PM
Subject: [ODE] iterative solver: testing needed


> Well guys, I need some help finding out why my car is spinning when it
> stops in the iterative solver, so I'm releasing it for y'all to play with.
>  If you can help me define exactly what causes it, maybe I can track down
> my bug.  I think it has something to do with the contact constraint, but
> I've tried all kinds of friction and slip parameters with both the LCP and
> my simpler solver (there's a define at the top of stepfast.cpp --
> FAST_FACTOR or SLOW_LCP).  And I just can't seem to find anything that
> makes it not spin (intuitively, the last thing I changed is what would
> have caused it....)  So y'all give it a whirl and throw some ideas at me.
>
> http://www.csworkbench.com/stepfast.zip
>
> Place that in the ode directory and extract it.  It will replace your
> Makefile, Makefile.deps, and ode/include/objects.h files, as well as
> placing the stepfast.h/cpp in the ode/src directory.  Then running make
> should compile it in.  I've also put the test file I've been using
> (test_crash.cpp) in the ode/test directory.  You'll notice lots of defines
> at the top.  You can change ROWS and COLS to a higher number to make the
> army of cars, and uncomment #define WALL to add the box wall to the
> simulation.  ITERS is the number of iterations per step.  You can press
> 'f' during the simulation to switch back and forth between the iterative
> solver and the old solver.  The green/red ball in the sky tells you which
> one you're using currently (green=iterative, red=old).
>
> So, play around with it, see if you can help me find my bug.  (Or just
> play around with it :)  I'll continue testing and work on some
> documentation.  If you want to use the iterative solver in a current
> program of yours, just change:
> dWorldStep(world, timestep);
> to
> dWorldStepFast(world, timestep, iterations);
> 5 seems to be a generally good start for the number of iterations in the
> tests I've run.  But more complex systems may need a higher number.
>
> Thanks for the help,
> David Whittaker
>
>
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