[ODE] Re: Trimesh-Trimesh updates ?

Xiaobin Wu xiaobin.wu at gmail.com
Tue Jan 25 11:30:06 MST 2005

Thanks, Marco. It clears up a lot for me. 

On Mon, 24 Jan 2005 13:29:36 -0800, Marco Grubert <mgrubert at conitec.net> wrote:
> Short answer: no.
> One of the shortcomings is that the algorithm expects penetrations to be
> resolved within 1 timestep. If A penetrates B by 0.5 units and gets pushed
> outward only by 0.2 units then it will still be 0.3 units deep inside B. The
> algorithm then compares total movement to depth, notices that A moved 0.2
> units, yet is indicated as 0.3 units inside B: 0.2 < 0.3 thus this contact
> is discarded as an anomaly with the result that the objects will sink into
> each other.

This might sound silly, but why not push it outwards by 0.5 units then? 


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