[ODE] patch - position-correcting constraints

[Megan Fox]

The point is that, at present, bodies are de-penetrated by forces. 
These forces are in no way separate from others, and stack on
eachother with each frame, leading to explosions after stack apon
stack apon stack of depenetrating force has its way.

The patch, in theory, removes that problem, de-penetrating objects at
a set, reasonable velocity.  This should remove any sort of physical
explosion due to penetrating bodies, and might even make stacking
behavior a bit better (maybe?).

Apologies on my part, I've been too busy to try your patch - looks
great, but I need to keep my codebase consistent for now :/ (when
implementing combat collision is a baaad time to go shaking things up,
you know)

-Megan Fox

> I'd say is a case of "I dont know what they're talking about/doesn't
> affect me at the moment/I am busy with something else" kind of thing :).
> 
> I was under the impresion that directly altering body positions was a
> big no,no, and it kind of makes sence, I mean, why use a physics library
> if you're going to bypass it in the end?... Sorry I have not been
> following this particular thread so I dont know if what I just said is
> related to the patch or not.
> 
> Adam D. Moss wrote:
> 
> > Adam D. Moss wrote:
> >
> >> This EXPERIMENTAL patch attempts to resolve penetrations by
> >> altering body positions and orientations instead of altering
> >> their velocities.
> >>
> >> This has the effect of almost entirely eliminating the fake-
> >> bounce and explosions caused by interpenetrating geoms.
> >
> >
> > I don't know if my patches are reaching the list or if
> > anyone cares.  An historically recurring problem on the
> > ODE list. :)
> >
> > --Adam
> > _______________________________________________
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> > ODE at q12.org
> > http://q12.org/mailman/listinfo/ode
> >
> >
> 
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