[Ode4j-users] hello world

[M@ <mat...@gm...>]

Hello everyone.  I'm trying to get a simple bouncing ball going and but the
ball keeps falling through the floor (despite me adding a contact with the
OdeConstants.dContactBounce flag set).  One thing that may be complicating
matters is that I'm not using DrawStuff (instead I have the values passing
into a jReality scene graph, which seems to work, I see the ball falling).
 Overall my code is this:

public void tick() {
  checkForCollisions(null);
  physicsWorld.quickStep(dt);  // 1/60s
  contactsGroup.empty();
}

public void checkForCollisions(Object cause) {
  collisionSpace.collide(cause, nearCallback); // TODO: consider using
collide2
}

DGeom.DNearCallback nearCallback = new DGeom.DNearCallback() {
@Override
public void call(Object o, DGeom dgeom, DGeom dgeom1) {
  final int contactsCount = 4;
  DContactBuffer contacts = new DContactBuffer(contactsCount);
  int n = OdeHelper.collide(dgeom1, dgeom, contactsCount,
contacts.getGeomBuffer());
  for (int i = 0; i < n; i++) {
    DContact contact = contacts.get(i);
    contact.surface.mode = OdeConstants.dContactSoftCFM |
OdeConstants.dContactBounce;
    if (dgeom instanceof DSphere || dgeom1 instanceof DSphere) {
      contact.surface.mu = 20;
    } else {
      contact.surface.mu = 0.5;
    }
   contact.surface.bounce = 0.7;
   contact.surface.slip1 = 0.0;
   contact.surface.slip2 = 0.0;
   contact.surface.soft_erp = 0.8;
   contact.surface.soft_cfm = 0.01;
   DJoint c = OdeHelper.createContactJoint(physicsWorld, contactsGroup,
contact);
   c.attach(dgeom.getBody(), dgeom1.getBody());
 }
}
};

Tick is called every .1s or so, which is fine for my purposes.

Any idea what I'm doing wrong?

--M@