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OK. So with dContactApprox on, the friction model should be the "cone" approximated as a square-base pyramid, as shown here, right?

http://ode-wiki.org/wiki/index.php?title=Manual:_Concepts#Collision_handling

That should overestimate friction by up to sqrt(2) depending on the direction, which is probably good enough for basic legged locomotion.

If mu = mu1 = mu2 are equal, then for

|Ft| < |Fn| * mu

there should be no slippage, right?

Is all that the case, and does it work reasonably well?

OK. So with dContactApprox on, the friction model should be the "cone" approximated as a square-base pyramid, as shown here, right?

http://ode-wiki.org/wiki/index.php?title=Manual:_Concepts#Collision_handling

That should overestimate friction by up to sqrt(2) depending on the direction, which is probably good enough for basic legged locomotion.

If mu = mu1 = mu2 are equal, then for

|Ft| < |Fn| * mu

there should be no slippage, right?

Is all that the case, and does it work reasonably well?