[ODE] interactive and continuous physics collisions?

[Bram Stolk]

Hi,

Easiest way:
Just take smaller time steps through your simulation.
Your simulations/sec can be more than visualizations/sec.
With the code below, the sim will be at 100Hz, even if your
viz frame rate drops to say 30 Hz.


FOR EACH VIZ FRAME:
  CALCULATE ELAPSED TIME dt
  float timestep=0.010; // Use 10ms timesteps
  static float remaining_sim_time=0;
  remaining_sim_time += dt;

  while (remaining_sim_time > timestep)
  {
    dSpaceCollide (bigspace, 0, &near_callback);
    dWorldQuickStep (world, timestep);
    dJointGroupEmpty (contactgroup);
    remaining_sim_time -= timestep;
  }
  //
  RENDER FRAME


More info at:
http://opende.sourceforge.net/wiki/index.php/HOWTO_integrate_simulation_and_visualization

  Bram