Real-Time Physics Simulation Forum

Hi All, I'm trying to understand the calculation used to resolve collisions between rigid and soft bodies. Specifically the following line in the function PSolve_RContacts in btSoftBody.cpp. const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst ) ; I unders...

Here we go :) I'm keeping things simple at the moment. I have the base as a 1 x 1 x 1 box with mass = 1. My first test was to create a btMultiBody with no links and apply the appropriate force and torque [if needed] so the base has no rotation and moves at a linear speed back and forth between 2 poi...

Thanks for the very useful guidance.

Using the floating base to represent the root and then use spherical joints between the limbs is what I thought I should be using.
I just couldn't get it working on my last attempt.
I'll give it another go and post my code once I'm done.

Thanks again.

I'm building an articulated character using btMultiBody and using links to represent each bone in the character skeleton. I'm going use spherical joints between each limb and use btMultiBodyJointMotor to drive each joint to create the desired pose for the character. I was wondering what the best way...

Thanks for the speed reply. I suspected as much. Not sure I'm approaching my overall aim the right way. I ultimately want to create a ragdoll that can follow skeletal animation data and was hoping to using constraint motors to drive the limbs into the correct pose, but not sure if this approach will...

I'm trying to connect 2 box shaped rigid bodies in a parent/child style relationship with a hinge constraint and control the rotation of the child rigid body with the motor. rigid bodyA position = (0, 0.5, 0) half extents = (0.025, 1, 0.025) mass = 1 rigid bodyB position = (0, 1.5, 0) half extents =...