[ODE] AutoDisable Disabled?

[Andrzej Szombierski]

On Fri, 8 Oct 2004, Aras Pranckevicius wrote:

> > maybe I'm doing something wrong (or perhaps simply not doing the right 
> > thing) but bodies in a sample simulation never autodisable themselves.
> > Is the AutoDisable feature actually implemented or is it only a 
> > planned (but documented) feature?
> 
>  Yes, it's implemented!
> 
> > Can anyone address explain this?
> 
>  I think the catch is: whenever a contact joint is created, it enables
>  any bodies (both or single in no-body case) attached to it. Now, you

That's the case unless both of the bodies are disabled (or one of them is 
static environment and the other one is disabled).

>  should manually take care and NOT create contact joints in your
>  collision callback for those cases:

>  * both bodies are disabled,
>  * one body disabled, other is geom without a body

This was discussed recently. While it seems to be right, it can cause 
wrong results when something hits a stack of disabled bodies - during this 
time step there will be no contact joints between stack elements so the 
moving body will force the stacked bodies to interpenetrate.

>  * (obviously) both are geoms without a body

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