[ODE] ERP and CFM in ODE

[Ke]

Thanks.
It showed to me how they affect the non-penetration
constraints.
But how do ERP and CFM come into the LCP picture in
ODE? It looks to me that,after choosing you ERP and
CFM (also choosing your velocity constraints）,
ODE then solves for normal constraint forces "Lambda"
based on above velocity constraints. They are surely
different in their LCP model for choosing zero and
non-zero ERP&CFM.

Ke
--- Peter Kyme <pk at dneg.com> wrote:

> There is a guide for creating new joints in ODE
> which explains ERP & CFM 
> in detail.
> 
> http://ode.org/joints.pdf
> 
> Cheers,
> Pete
> 
> Ke wrote:
> > Hi All,
> > The integration of ODE is based on complementarity
> > impulse and velocity models of Stewart/Trinkle and
> > Anitescu/Potra, which are based on non-penetration
> > constraints. How are ERP and CFM in ODE related to
> > above complementarity models in order to allow
> > penetration happening? or which ODE sources
> codes(.cpp
> > files) I should look into in order to know more
> about
> > ERP and CFM?
> > 
> > 
> > Thanks.
> > 
> > 
> >        
> >
>
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