My Question:
In bullet it is possible to get the force applied to a kinematics object?
Is it possible to get the force applied to the anchored nodes of a soft body?
My Setup:
I am simulating a robot manipulating a soft body (cloth). When grabbing the cloth, certain cloth nodes are anchored to the grippers.
I am primarily concerned with the cloth behavior and am assuming I can manipulate the grippers kinematically. However, I do want to know the force that the cloth applies on the grippers (both from gravity and from stretching). Since the grippers are kinematic, I suppose I actually want the force the cloth would apply to the grippers if the grippers were not kinematic.
btSoftBody::predictMotion resolves the soft-body impulses, which does apply an impulse to the anchored btRigidBody object. However, this is immediately ignored, as my grippers are kinematic, (and m_inverseMass==0).
I would prefer to keep the grippers as kinematic objects, and also not duplicate the soft body impulse/motion calculations in btSoftBody.
Getting force applied to a Kinematic object
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- Posts: 2
- Joined: Mon Sep 04, 2017 9:31 pm
Re: Getting force applied to a Kinematic object
For now I have copied the code from btSoftBody::PSolve_Anchors into a separate callback.
It is less code duplication than I originally thought.
It is less code duplication than I originally thought.
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- Posts: 2
- Joined: Wed Jun 27, 2018 11:01 pm
Re: Getting force applied to a Kinematic object
Hello, man
Did you manage to get something new about using kinematic and soft bodies.
I'm doing a really similar project, but using a soft ball.
It will be really useful if you share the results from you simulation.
Thank you very much!
Did you manage to get something new about using kinematic and soft bodies.
I'm doing a really similar project, but using a soft ball.
It will be really useful if you share the results from you simulation.
Thank you very much!