Hi! I work since a few weeks on a rigid body simulation with 3 active bodies. I used the convex decomposition algorithm for two of the active bodies to get better collision detection and the results are pretty good.
But I realized that I work since the start at the wrong scale. My objects are in reality in mm but I work in meters since the start. So I implemented the down-scaling of the bodies before creating the collision shape like this: """ auto trimesh = ChTriangleMeshConnected::CreateFromWavefrontFile(obj_filename, true, false); trimesh->Transform(ChVector3d(0, 0, 0), ChMatrix33<>(M_TO_MM)); """ And a similar approach for the bodies that are decomposed in convex shapes. The problem is that when down-scaling, the collision detections from one timestep to the other are fluctuating a lot, the collision detection seems unstable. This appears already when I downscale of a factor of 10. I also noticed that the active bodies seems to be more reactive than before at collisions, like if they were bouncing more than before. I played on the following parameters to fix the problem (with no good output): - the mass of the bodies (I used extremely high and low values to see what would happen but the unstability was still there) - the sphere swept radius when creating the collision shape - the enveloppe and the margin of the BULLET collision detection algorithm - I downscaled too the force and torque of my motors and my spring elements I could not find a logic when tunig those parameters and I got a bit lost. So my question are, am I on the good path ? Are there parameters that I missed ? Do you have any idea why the collision detection would fail after downscaling ? Thanks in advance for your help! Best, Antoine -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/43398551-33eb-485c-93ee-803165667631n%40googlegroups.com.
