[ODE] Pushing through collisions

[Jon Watte]

Allright, so one-over-time-step is the only contact scaler. Now I have 
all the information I need to go off and experiment. Thanks!

Cheers,

			/ h+


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of Russ
Smith
Sent: Thursday, April 29, 2004 4:01 PM
To: Jon Watte
Cc: ODE at q12.org
Subject: Re: Re[2]: [ODE] Pushing through collisions




> Great! The only bit of data needed to complete the answer is: what is 
> the proportional constant used with the penetration depth to get the 
> moving-outward velocity?

the relevant lines of code are in joints.cpp:1258:

	dReal k = info->fps * erp;
	info->c[0] = k*j->contact.geom.depth;

fps is frames per second, i.e. 1/stepsize. what this says is "set the
velocity so that a fraction ERP of the penetration depth will be covered
in one time step".

> I'm assuming mass is also multiplied into the impulse to make it so
> that the velocity is the same no matter what the mass.

correct.

russ.

-- 
Russell Smith
http://www.q12.org
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