[ODE] ODE in Virtools ... What's wrong ?

[Sébastien Chevriau]

Hi, 

I have try to implement ODE library in Virtools but
the result seems to be "not realistic". Balls seems to
roll not in the good direction and boxes seems to
swing. Here a video of what i get :

http://membres.lycos.fr/sebwouaib/ode_in_virtools_divx.avi

ODE is left-handed :
X : to the right
Y : to the top
Z : to the back

And here what i do :
- create world
- set gravity (0; -9.18; 0)
- create hash space
- create a plane
- create a mass for box (density:3, sizes:0.5;0.5;0.5)
- create a mass for ball (density:3, radius:0.25)
- create a group for contact points
- loop :
    - spaceCollide (max 20 contacts, params from
Buggytest: surface.mode=dContactBounce;
contacts[i].surface.mu=250;
contacts[i].surface.bounce=0.3;
contacts[i].surface.bounce_vel = 0.05;)
    - worldStep
    - jointGroupEmpty
    - for each body :
         - get position
         - set position of virtools object
         - get quaternion
         - set quaternion of virtools object

and i create boxes and balls with initial position and
mass.

What's wrong in my simulation ?

Thanks in advance for some help.

Sebastien


	

	
		
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