[ODE] CFM, ERP, stepsize, bNormalizationResult failed

[Ruud van Gaal]

> Date: Wed, 21 Nov 2007 02:30:42 -0200
> Jon Watte (ODE) escreveu:
...
> >   float const *f = dBodyGetAVel(body);
> >   scale = get_body_scalar_mass(body) * 0.01;
> >   dBodyAddTorque(body, -f[0] * scale, -f[1] * scale, -f[2] * scale);
...
> Proposal: two new utility functions.
> 
> dAngularDamp(dBodyID body, dReal scale);
> dLinearDamp(dBodyID body, dReal scale);

I'd propose to name them (always like to do top-bottom, as with for example
dBody*() functions):

dDampAngular(dBodyID body, dReal scale);
dDampLinear(dBodyID body, dReal scale);

and add a more generic one (that just calls the above 2):

dDamp(dBodyID body, dReal scale);

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Ruud