[ODE] Auto Disable Improvement patch #1586738

[Jon Watte (ODE)]

John Miles wrote:
> The usual example is something twitching and jittering on the ground when it
> should be at rest.  The object's average velocity is near zero, since it
>   

The problem there is that something is twitching and jittering. That's a 
problem in your simulation that you need to fix. In my experience, the 
biggest source of jitter is not using a fixed time step. The second 
biggest source is not using any angular momentum dampening. The third 
biggest source is not using any linear momentum dampening.

Using a fixed timestep, adding a small counter-torque to each object, 
and a small counter-velocity to each object, each step, will typically 
make simulations settle down and auto-disable just fine.

Cheers,

          / h+