[ODE] Super bounce?

Hampus Soderstrom hampus at sxp.se
Sun Mar 5 20:43:19 MST 2006

Hi Andrew,

Could it be something related to error reduction in the joints  
causing the joints to jump-back when they are over streched and thus  
jumping in the air?

Trying different CFM and ERP values might solve it.


6 mar 2006 kl. 09.28 skrev Andrew Arcilla:

> Hello,
> I am trying to create a simple biped like creature using ODE.  I  
> have built a simple system to apply torques to the legs to try and  
> make it walk.  But when this creature tries to take a step, as soon  
> as the first stepping leg hits the floor, the creature literally  
> gets launched into the air at an incredibly high velocity, at  
> approximately a 30 degree angle.  It eventually lands 100’s of  
> meters away from its original location.  Does anybody know what  
> might be causing this and how to fix it?  I assume the problem  
> might be in my contact joints so I have tried a number of  
> alterations of the surface parameters, but with no success.  I have  
> tried surface.mode = 0, surface.mode = dContactBounce with a few  
> different bounce and bounce_vel configurations, and surface.mode =  
> dContactBounce | dContactSoftCFM with a few different  
> configurations.  But the end result has been the same each time.
> Anyone have any specific suggestions?
> Regards,
> Andrew
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