簡介
而且它有内建的碰撞檢測系統。本人的主要工作是研究ODE物理引擎在3D遊戲中的應用。研究主要是通過學習ODE的用戶手冊、閱讀和理解ODE的代碼然後掌握ODE的編程接口從而使用ODE剛體遊戲引擎編寫3D遊戲場景來體現ODE的應用。3D遊戲場景的編寫主要使用了3D圖形API-OpenGL和ODE引擎等遊戲仿真技術。
特點
總共實現了以下基本的剛體物理運動遊戲場景：
（1）單擺運動：主要體現了球連接的具體使用。
（2）撞球：主要體現了碰撞的處理。
（3）汽車：主要體現了Hinge-2連接的使用。
（4）抛物線運動：主要體現了剛體方向和速度具體處理方法。
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...
