Re: [Pyode-user] Masses and collisions

[Ethan Glasser-C. <gl...@cs...>]

Chris Bainbridge wrote:
> See http://ode.org/ode-latest-userguide.html#sec_3_8_0 for a more
> detailed explanation.

The user guide makes a distinction between soft constraints and hard
constraints. Am I understanding correctly that all ODE joints are soft
constraints, just with varying degrees of softness? If you wanted hard
collisions, is there some way you could scale CFM by mass, or by
1/mass or something? Does the default CFM "work best" with objects of
particular mass?

I think someone who uses ODE for the first time will be surprised that
collisions are "soft". I'd like to edit the wiki to make it more
obvious, but I haven't signed up for an account yet.

Ethan