[ODE] springs

[tobias.schlegel at visual-imagination.de]

hi!

>Is there a generally standard way of implementing springs with ODE? Do 
>you just create two bodies and use the standard spring equation and 
>apply forces on the bodies with dBodyAddForce()? Or is there a better 
>way? What if you wanted a spring on a joint? Do you apply torques 
>instead of forces on the joint, or use a joint motor somehow?

You may want to take a look at test_slider.cpp in the ode test-directory. The way springs are implemented there worked good for my purposes, combined with some damping-forces set on the joint.

Tobias