[ODE] friction + collision problem

[Santi Ontañón]

I've tried the ready-made .DLL file you told me, and it does not work. 
When the simulation starts, it tells me that "step size must be > 0" 
(when it obviously is, since I call "dWorldStep(ode_world_ID,0.05);"!!!!

Moreover, when I built ODE myself, I built it to be linked statically 
(i.e. I generated a LIB file, not a DLL file).

About my step size, I use a dynamic step size (the simulation is in real 
time), but it is in the interval: 0.01 - 0.1 (I force this). But I've 
tried to FIX step sizes to see if that was the problem, and it wasn't.


John Miles wrote:

>I seem to recall this being a symptom of the flaky DLL linkage convention
>used by the standard ODE Win32 build.  Check the values of the global
>variables you're importing from the ODE library; I'll bet that you're using
>a local, uninitialized copy of dInfinity somewhere that's leading to the
>bug.
>
>You might try the ready-made .DLL build at
>http://thegleam.com/ode39/ode39_win32.zip and see if it makes a difference.
>
>-- jm
>
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>>Hi, I've already sent this question in another message, but I resend it
>>with a proper subject ;)
>>
>>My problem is the following one:  If I set friction "mu = dInfinity",
>>everything works fine. But if I set friction = 0 or 1 (or any other
>>small constant), two of the boxes of my simulation enter one inside of
>>the other (while ODE gives messages: "LCP internal error, s <= 0
>>(s=0.0000)"), and suddently they collide with such a strength (since
>>they are one inside the other), that both boxes run away of my simuation
>>field.
>>
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