[ODE] Bouncy sphere/trimesh collisions

Jon Watte (ODE) hplus-ode at mindcontrol.org
Thu Oct 20 10:14:36 MST 2005

ODE has to apply some force to make the geoms separate, because they're 
already interpenetrating at the point of collision. The momentum 
imparted by that force is retained once the objects have separated. I 
believe you can attempt to make it better by reducing ERP. Another 
approach would be to detect the interpenetration, and do your own 
position constraint resolution instead of a velocity/force constraint 
solution -- however, if you take that to the extreme, you get a totally 
separate solver from the ODE solver...


			/ h+

Brad wrote:
> I've got a sphere that collides with a trimesh at a fairly high velocity 
> (though not high enough to make the sphere go through the trimesh or 
> anything). I've got bounce set to 0. Sometimes when the sphere collides 
> with the trimesh (which is a fixed, bodyless geometry) the sphere 
> bounces up pretty high, and other times it works right and pretty much 
> doesn't bounce at all. Is there something I'm doing wrong?

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