Joint Rigidity

[A.arj]

Hi,
I've added 3 consequent joints (2xHinge + 1xSlider) but as it is visible in the attached images, there is a considerable error which is not acceptable. Is there any way to make the joints more rigid?

[Basroil]

Did you try increasing joint iterations and decreasing step size?

[Dirk Gregorius]

Do you mean the penetration? If this is your problem I guess that Bullet disables collision between bodies that are connected by a joint. You should also check the limits of your prismatic joint.

If you are seeing stiffness problems you need to make sure that you mass ratios are reasonable (~1 : 10). Besides this higher iteration counts and smaller timesteps should help as Basroil pointed out already.

[Basroil]

Do you mean the penetration? If this is your problem I guess that Bullet disables collision between bodies that are connected by a joint.

From the look of it, his slider is concave anyway, and no signs of workarounds for it, so even if collisions were enabled he would have issues there (and maybe even worse issues).

Rather than linear + two hinge joints (PRR with gimbal having both revolutions), tried using a single 6dof joint? Setting display aside (easy enough to follow the transformations through), perhaps reducing the length of the joint chain will help.