All of those setting velocities directly should note:
The ODE User Guide specificly states that you should avoid setting velocities directly every time step where possible (except initial setup). You will end up abusing the built in physics model (forcing ODE to do something rather than let it happen naturally).
If you set everything up properly using force, friction and torque, ODE should do all of the hard work for you.
For more info on this, read the ODE User Guide (link in top post) Section 12.6.
Just some food for thought ;)
The ODE User Guide specificly states that you should avoid setting velocities directly every time step where possible (except initial setup). You will end up abusing the built in physics model (forcing ODE to do something rather than let it happen naturally).
If you set everything up properly using force, friction and torque, ODE should do all of the hard work for you.
For more info on this, read the ODE User Guide (link in top post) Section 12.6.
Just some food for thought ;)