Overview

Please see the official ODE documentation for information on how to develop with ODE. We have provided some some useful basic background material on the ODE solvers.

Known Issues

• Joint limits cannot approach [-π,+π]. This is currently a missing feature in ODE.

• Joint friction not modeled.
• Interpenetration tolerance between objects in contact defaults at 1mm to prevent jittery behavior.

• For more information on ODE limitations, see ODE FAQ and collision FAQ.