JV-ODE Physics Thread 3

To prevent roll I use Wayne's example for angular friction

For ode.ODE_object=Each ODE_object
   If ode\body
      If dBodyIsEnabled(ode\body)
         numjoints=dBodyGetNumJoints(ode\body)
         If numjoints>0      ; If joined to another body
            For joints=0 To numjoints-1
               ; for all joints attached to body...
               joint=dBodyGetJoint(ode\body,joints)
               If dJointGetType(joint)=dJointTypeContact   ; If joint type is a collision contact
                  ; Get Angular velocity vector
                  bx#=dBodyGetAngularVelX#(ode\body)
                  by#=dBodyGetAngularVelY#(ode\body)
                  bz#=dBodyGetAngularVelZ#(ode\body)
                  ; Calculate magnitudes
                  ForceB#=Sqr(bx*bx+by*by+bz*bz)
                  If forceb>.01
                     friction#=ode\mat\rotational_friction*-1.0
                     dBodyAddTorque ode\body,dBodyGetAngularVelX(ode\body)*friction,dBodyGetAngularVelY(ode\body)*friction,dBodyGetAngularVelZ(ode\body)*friction
                  End If
               End If
            Next
         EndIf
      EndIf
   EndIf
Next