[ODE] Particles again, no torque on collide

[Jacob Ole Juul Kolding]

I seem to be to have solves my previous problem with the particle system I'm
working on.
Simply reducing the step frequency from ~1kHz to 100Hz made to simulation
run stable at above 1000 particles.

But one problem still remains.
I use spheres for collision and when they collide with a plane (the floor)
they bounce ok but no torque is applied.

I create contact joint like this:

    int max_contacts = 10;
    dContact contacts[max_contacts];
    int num_contact =
dCollide(o1,o2,max_contacts,&contacts[0].geom,sizeof(dContact));

    for(int i = 0; i < num_contact; i++){
        contacts[i].surface.mode = dContactBounce;
        contacts[i].surface.mu = 10;
        contacts[i].surface.bounce = 0.95;
        contacts[i].surface.bounce_vel = 0.15;
        dJointID c =
dJointCreateContact(odeWorld,odeContactJoints,&contacts[i]);
        dJointAttach(c,
dGeomGetBody(contacts[i].geom.g1),dGeomGetBody(contacts[i].geom.g2));
    }

Any help appreciated.

/Jacob Kolding
-------------- next part --------------
An HTML attachment was scrubbed...
URL: http://q12.org/pipermail/ode/attachments/20060817/c8670206/attachment.htm