Original Post
Hello! I have a problem concerning the friction models and ODE. I have a dynamic movable box that is placed on top of an other (static) box. When I issue the static box to move in the x or y direction the dynamic box doesnt follow. Everything else seem to work fine, i.e. the gravity and the collision detection. My collision callback: void nearCallback(void *data, dGeomID o1, dGeomID o2) { // check collision between spaces if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) { dSpaceCollide2(o1,o2,data,&Collide); return; } // create contact points dContact contact[MAX_CONTACTS]; int n = dCollide (o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(dContact)); for (int i=0; i<n; i++) { contact.surface.mode = dContactMu2 | dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2 | dContactBounce; contact.surface.slip1 = 0.0; contact.surface.slip2 = 0.7; contact.surface.mu = 0.2; contact.surface.soft_erp = 0.96; contact.surface.soft_cfm = 0.04; contact.surface.bounce = 0.1; dJointID c = dJointCreateContact (world,jointgroup,&contact); dJointAttach (c, dGeomGetBody(contact.geom.g1), dGeomGetBody(contact.geom.g2)); } } I'm very greatful for any help!
