Antwort: [ODE] Re: Box on The Ground

[Michael.Rauh at eads.com]

You should increase the number of contacts you're requesting.
 `1' will naturally not be enough for box-to-plane collision :)





                                                                                                                            
                      "Liu Wei-Wen"                                                                                         
                      <g9001001 at mail.t         An:      <ode at q12.org>                                                       
                      tu.edu.tw>               Kopie:                                                                       
                      Gesendet von:            Thema:   [ODE] Re: Box on The Ground                                         
                      ode-bounces at q12.                                                                                      
                      org                                                                                                   
                                                                                                                            
                                                                                                                            
                      20.07.2004 08:37                                                                                      
                                                                                                                            
                                                                                                                            




sorry, I put a ball on the ground, it is correct. But when I put a box on
the ground, it will jump and go on .............
somebody can help me ^.^
thanks a lot ...




 I create a ground (0, 0, 1) and create a Box (1000mm*1000mm).
 I set the gravity is -9810mm/s/s.
 and set

     dJointID c;
     dBodyID b1 = dGeomGetBody(o1);
     dBodyID b2 = dGeomGetBody(o2);
     if (b1 && b2 && dAreConnected (b1,b2)) return;

     dContact contact;

     contact.surface.mode = dContactApprox1_1 | dContactApprox1_2 |
                                           dContactSlip1 | dContactSlip2 |
                                           dContactSoftERP |
 dContactSoftCFM;
     contact.surface.mu = dInfinity;
     contact.surface.mu2 = dInfinity;
     contact.surface.slip1 = 0.0;
     contact.surface.slip2 = 0.0;
     contact.surface.soft_erp = 0.8;
     contact.surface.soft_cfm = 1e-10;

     if (dCollide (o1, o2, 1, &contact.geom, sizeof(dContactGeom)))
     {
         c = dJointCreateContact (robot->worldID, robot->ContactGroupID,
 &contact);
         dJointAttach (c, b1, b2);
     }

 but when i put the box on the ground, the box will jump always.
 thanks a lot._______________________________________________
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