[ODE] Brakes and rotational damping

[Chris Ledwith]

Matthew Harmon wrote:
> believe braking power is mostly irrespective of rotational velocity (except
> for heat build-up and material properties which I am not modeling.)  So,
> instead, we apply a constant counter-torque (scaled by brake pressure) and
> check for reversal... i.e. brakes are locked.  I didn’t really see another
> way around that, but would love some other ideas.  It always feels wrong
> when checking for sign reversal, etc.
>
>   
Right ,and I don't see a problem with that. If it helps, don't think of 
it as watching for a sign change -- you are simply trying to reach a 
target velocity (in this case zero). Of course, it's likely to be 
reached "in-between" timesteps, so you will have to clamp to your target 
velocity when you "overshoot".

-C