[ODE] Brakes and rotational damping

[Jon Watte (ODE)]

Matthew Harmon wrote:

> To do this "perfectly" wouldn't I need to understand the same integration
> proccess ODE is using so I can calculate the correct torque for that
> timestep?  Or do you think it would be good enough just to use a Euler
> method to calculate what the counter-torque would need to be.

It so happens that ODE uses a first-order Euler integrator, or close 
enough to make no difference :-) Note that you'll probably have other 
forces (gravity, ground contacts, etc) that also act on the body, such 
that the imprecision in the clamped force probably will get lost in the 
noise.

Cheers,

			/ h+