I was building a re-targeting engine following Chris Hecker's Spore paper then it occurred to me i could basically use the same Verlet system for my ragdoll.
I decided to follow Rick Baltman's GDC talk slide and paper to implement this.
http://www.docstoc.com/docs/37750453/ar ... 2004baltma
http://www.docstoc.com/docs/40467261/Ve ... -Degree-of
In his paper just like in Bullet there is this magic variable called Impulse Threshold.
When relative Impact speed < Threshold = rest
When relative Impact speed > Threshold = bounce
Any idea what this value is?
I used a value 0.025 in Unity3d and it was the closest i could match the built-in physX engine.
I scoured the box2d sdk and could not find a value for this either
That aside, In his paper he uses a spring system for resting contacts.
Code: Select all
Vector3 Force_penetration = (K_Spring * penetration) - (K_Damping * penetration_);