[ODE] friction + collision problem

[Santi Ontañón]

Making more tests, I've seen that using dWorldStepFast1 instead of 
dWorldStep, everything works perfectly! (I use 10 iterations).
But anyway, I'd like to know the reason of that strange behavior. If it 
is a bug and I can help in anything to solve it, I'll be more than 
willing ;)

thanks


> 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.
>
> more details of my simulation: there are 3 boxes, two of them attached 
> with a "ball" joint, and there is a flat ground (I allow a maximum of 
> 4 collision points among each pair of objects)
>
> Should I always set friction = dInfinity? I'd like to have surfaces 
> with lower frictions... do I have to do something special to support 
> them?
>
> I've been searching in the archives of this mailing list, and I've 
> found 2 other people experiencing the same problem than me. However, 
> they got no answer... :(
>
> thanks in advance!
> _______________________________________________
> ODE mailing list
> ODE at q12.org
> http://q12.org/mailman/listinfo/ode
>