I want to simulate the behavior of the 3-D object shown in Figure 1
through the ODE.
However, in simulation with dWorldStep(), the error message, "ODE
Message 3: LCP internal error, s <= 0 (s=-0.0000e+00)," occurs even
when the object is stationary on the workbench as shown in Figure 1.
The error didn't occur when using dWorldQuickStep(), but I want to
solve the error without using dWorldQuickStep(). In my simulation,
the object is represented as a triangle mesh (trimesh) object.
Is there any way to solve the error?