We tried getting the contact force between a rigid table and a soft object resting on it. We are using FEM/mass-spring.
(1) Using getContactPoints, we are always getting the same force (1N) at each contact point and same number of contact points(10), regardless of the mass of the object.
(2) We created a link on top of the table which is connected to the table by a fixed joint. We got the reaction forces at the fixed joint. The reaction forces are always zero regardless whether the object is resting on the table or not.
The output is shown below
Both the methods are working with rigid objects. The problem seems to be soft body related.Using contact points: 0
Reaction force at fixed joint: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-----------------------------------------------------
Using contact points: 0
Reaction force at fixed joint: (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-----------------------------------------------------
The link to the code is : https://drive.google.com/drive/folders/ ... sp=sharingUsing contact points: 97.35091108275402
Reaction force at fixed joint: (0.034910487204954856, 0.034793450729809834, 97.35091108275402, 160.5983761621271, 2.9517741130387547, -0.0586519151633019)
-----------------------------------------------------
Using contact points: 97.56281875457508
Reaction force at fixed joint: (0.032460291941310594, 0.03230360009906202, 97.56281875457508, 160.95020118085586, 2.9559727177872865, -0.054533921059458465)
-----------------------------------------------------
Any advice regarding this would be appreciated.
Thank you.