简介
而且它有内建的碰撞检测系统。本人的主要工作是研究ODE物理引擎在3D游戏中的应用。研究主要是通过学习ODE的用户手册、阅读和理解ODE的代码然后掌握ODE的编程接口从而使用ODE刚体游戏引擎编写3D游戏场景来体现ODE的应用。3D游戏场景的编写主要使用了3D图形API-OpenGL和ODE引擎等游戏仿真技术。
特点
总共实现了以下基本的刚体物理运动游戏场景：
（1）单摆运动：主要体现了球连接的具体使用。
（2）撞球：主要体现了碰撞的处理。
（3）汽车：主要体现了Hinge-2连接的使用。
（4）抛物线运动：主要体现了刚体方向和速度具体处理方法。
功能
支持功能如下：
Rigid bodies with arbitrary mass distribution.
Joint types:ball-and-socket,hinge,slider(prismatic),hinge-2,fixed,angular motor,linear motor,universal.
Collision primitives:sphere,box,cylinder,capsule,plane,ray,and triangular mesh,convex.
Collision spaces:Quad tree,hash space,and simple.
Simulation method:The equations of motion are derived from a Lagrange multiplier velocity based model due to Trinkle/Stewart and Anitescu/Potra.
A first order integrator is being used.It's fast,but not accurate enough for quantitative engineering yet.Higher order integrators will come later.
Choice of time stepping methods:either the standard``big matrix''method or the newer iterative QuickStep method can be used.
Contact and friction model:This is based on the Dantzig LCP solver described by Baraff,although ODE implements a faster approximation to the Coloumb friction model.
Has a native C interface(even though ODE is mostly written in C++).
Has a C++ interface built on top of the C one.
Many unit tests, and more being written all the time.
Platform specific optimizations.
Other stuff I forgot to mention...
