Tokamak precision lack?

hi there,

i am experimenting with tokamak for some time now. up to now everything worked just fine but now i am experiencing some strange things.

i made up a little example (most of the code is not mine) with a ball-joint swinging. on all computers i tested it so far the ball-joint does not stop movement at angle 0, 0, 0 but on some angle of 1.5, 0, -0.3 or so.
it sometimes even stopps movement when the ball is not even close to the center which looks pretty unrealistic.

does anyone have a clue?

Graphics3D 800, 600, 0, 2
SeedRnd MilliSecs()

; -> Cam & Light
camera = CreateCamera( )
PositionEntity camera, 0, 20, -35
light = CreateLight( 2 )

; -> Global Vars
Global elapsed, ticks
Global period = 1000 / 60
Global time = MilliSecs() - period

; -> Tokamak Init
Const Rigid_Bodies 		= 200
Const Animated_Bodies 	= 7
TOKSIM_SetRigidBodiesCount Rigid_Bodies
TOKSIM_SetAnimatedBodiesCount Animated_Bodies
TOKSIM_SetRigidParticleCount 0
TOKSIM_SetControllersCount 0
TOKSIM_SetGeometriesCount Rigid_Bodies + Animated_Bodies
TOKSIM_CreateSimulator( 0, -10, 0 )

; -> Ball & Chain
gBall = CreateSphere(12, gBall)
EntityColor gBall, 228, 228, 228
EntityShininess gBall, 1
gChain = CreateCylinder(8, 1, gBall)
PositionEntity gChain, 0, 14, 0
ScaleEntity gChain, .2, 14, .2
gLink = CreateCylinder(8, 1, gBall)
ScaleEntity gLink, .4, .2, .4
PositionEntity gLink, 0, 1, 0
EntityColor gLink, 128, 255, 0

gBall_RB = TOKRB_Create()
TOKRB_AddSphere gBall_RB, 2
TOKRB_SetPosition gBall_RB, 0, 5, 0
TOKRB_SetVelocity gBall_RB, Rand(1, 10), Rand(1, 10), Rand(1, 10)
TOKRB_SetMass gBall_RB, 150
TOKRB_SetSphereInertiaTensor gBall_RB,1, 150
TOKRB_UpdateBoundingInfo gBall_RB
TOKRB_SetAngularDamping gBall_RB, .01
TOKRB_SetLinearDamping gBall_RB, .01
TOKRB_SetCollisionID gBall_RB, 1
AlignToVector gBall, -x#, 0, -z#, 2
TOKRB_SetRotation gBall_RB, EntityPitch(gBall), EntityYaw(gBall), EntityRoll(gBall)
gBallJoint = TOKJOINT_Create(1, gBall_RB, 0)
TOKJOINT_SetPositionAndRotationWorld(gBallJoint, 0.0, 35.0, 0.0, 0, 0, 0)
TOKJOINT_SetType(gBallJoint, 1)
TOKJOINT_Enable(gBallJoint, True)
TOKJOINT_SetDampingFactor gBallJoint, 1.0

; -> Additional Meshes
shadow = CreateCylinder(16, 1)
ScaleEntity shadow, 1, 0.1, 1
PositionEntity shadow, 0, 0, 0
EntityColor shadow, 0, 0, 0
EntityAlpha shadow, 0.5

bullseye = CreateCylinder(16, 1)
ScaleEntity bullseye, 1.5, 0.01, 1.5
PositionEntity bullseye, 0, 0.05, 0
EntityColor bullseye, 255, 0, 0
EntityFX bullseye, 1

target = CreateCylinder(16, 1)
ScaleEntity target, 4, 0.01, 4
PositionEntity target, 0, 0.03, 0
EntityColor target, 255, 255, 0
EntityFX target, 1

ground = CreatePlane( )
EntityColor ground, 0, 200, 50


While Not KeyHit(1)
 	
	Repeat
		elapsed = MilliSecs() - time
	Until elapsed
	
	ticks = elapsed/period
	tween# = Float(elapsed Mod period)/Float(period)
	
	For k=1 To ticks
		time = time + period
		If k = ticks CaptureWorld
		
		If KeyHit(57) TOKRB_SetVelocity gBall_RB, Rand(1, 10), Rand(1, 10), Rand(1, 10)
		
		TOKSIM_Advance( 0.1, 1 )
	 
		PositionEntity gBall, TOKRB_GetX#(gBall_RB),TOKRB_GetY#(gBall_RB),TOKRB_GetZ#(gBall_RB)
		RotateEntity gBall, TOKRB_GetPitch#(gBall_RB),TOKRB_GetYaw#(gBall_RB),TOKRB_GetRoll#(gBall_RB),False
		
		PositionEntity shadow, TOKRB_GetX#(gBall_RB), 0.1 ,TOKRB_GetZ#(gBall_RB)	
	Next
	
	UpdateWorld( )
	RenderWorld( tween# )
	
	Text 10, 10, "PhysicsTime: " + TOKSIM_GetPhysicsTime()
	Text 10, 30, "APitch: " + TOKJOINT_GetFrameAPitch( gBallJoint )
	Text 10, 40, "AYaw: " + TOKJOINT_GetFrameAYaw( gBallJoint )
	Text 10, 50, "ARoll: " + TOKJOINT_GetFrameARoll( gBallJoint )
	
	Flip False
	
Wend

TOKSIM_DestroySimulator()
End

From memory, there are commands to set just *how* slow an object is moving for it to become disabled. Find this command and disable it or set the values really low. That should sort your issue.

thx Cygnus, that's it :D

when i add:

TOKRB_SetSleepingParameter gBall_RB, 0.01

it works perfectly. of course you have to take care about performance to not set every RB SleepingParameter low i would guess.

yeah, you gotta get it *just* right :-)

It'd be useful if the AutoDisable function took into account the amount of force still being applied, minus gravity.