[ODE] cylinder plane bug

[Geoff Carlton]

Jon Watte (ODE) wrote:
>
>
> ODE is, generally, a velocity space solver, not a position space 
> solver, so "finding a position" where the objects are not intersecting 
> anything else isn't a natural thing to express in the solver. One 
> reason for this is that there may actually be no such position, in the 
> case of objects penetrating more than one other object.
>
Yes, but the question is whether to cancel out the added solver momentum 
after each frame or let it build up.  In theory this should be much 
better - bodies push apart, but only as far as they are 
interpenetrating.  That is assuming that we can clearly differentiate 
between the proper (existing + bounce) and unwanted (collision-force) parts.

I was a bit worried about the caveats mentioned in the original post 
though, like needing a higher disable threshold - if it worked as it 
should, it would need a lower one!

Geoff