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[Jerome Duriez <duriez@xxxxxxxxxxxxxxx>]

Hello, thank you for your answer, but I avoid that all this is not yet 
perfectly clear for me :

sega a écrit :
>>> I have a question about the meaning of velocities of 
>>> "non dynamic" bodies. Is it computed even if it is not set by an Engine, 
>>> and if yes how ? 
>>>       
>
> No, as seems to me. The positions, velocities and so of "non dynamic" 
> bodies is set only by an kinematic Engine.
>
>   
>> Considering moreover the fact that in the contact laws that's the 
>> velocities of the bodies which are used to compute the relative 
>> displacements, how does this (well) work ?
>>     
>
> With the linear velocities here no problem.
Why really no problem ? I wonder in fact about the case of an 
interaction between a non dynamic body (whose velocity was never 
affected by an Engine) and a dynamic one, example : a sphere and a wall 
in the TriaxialTest. If the velocity of the wall is indeed zero (as it 
was defined so in the createBox of the PreProcessor of TriaxialTest, and 
never changed after), _whereas its position changes_, the computations 
of relative displacements between this wall and the sphere will be 
wrong, not ?
Thanks

Jerome
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