Re: [Pyode-user] embarrased that I can't figure this one out

[Hart's A. <bha...@ya...>]

hi again robert,

you had your ERP (error reduction param) very high, so i tuned that lower and that caused the
error of slipping below the floor to increase from -20 to -90, so the problem was your mass was
too high, so i lowered that to 10 and now it works how i think you want.

import ode,time

def near_callback(args, geom1, geom2):
	contacts = ode.collide(geom1, geom2)
	world, contactgroup = args
	for c in contacts:
		#c.setBounce(0.2)
		#c.setMu(5000)
		j = ode.ContactJoint(world, contactgroup, c)
		j.attach(geom1.getBody(), geom2.getBody())

contactgroup = ode.JointGroup()
world = ode.World()
world.setGravity( (0, 0, -9.81) )
world.setERP(0.1)
world.setCFM(1E-5)

space = ode.Space()

floor = ode.GeomPlane(space, (0,0,1), 0)

body = ode.Body(world)
M = ode.Mass()
M.setBox(10, 10, 10, 10)
body.setMass(M)
geom = ode.GeomBox(space, (10, 10, 10))
geom.setBody(body)
body.setPosition((50, 50, 50))

fps = 80.0
dt = 1.0/fps

while True:
	pos = body.getPosition()
	print 'z =  ', pos
	space.collide((world, contactgroup), near_callback)
	world.step(dt)
	contactgroup.empty()
	time.sleep(0.01)



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