[ODE] Brakes and rotational damping

[Chris Ledwith]

Jon Watte (ODE) wrote:
>   
>> 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.
>>     
>
> You know the step size, the mass, and the angular velocity. You should 
> be able to very easily calculate what the maximum torque you could apply 
> would be, and clamp the counter-torque before you apply it.
>   
Yeah, what Jon said. This way the velocity is always correct, and you 
can avoid directly modifying the velocity (bonus!)

-C