Scaling the World for a 6-Dof Spring Damper
Posted: Sun Jun 25, 2017 6:36 pm
I am currently trying to scale up my setup (consisting of two rigid bodies connected by a btGeneric6DofSpring2Constraint) to fall within the suggested dimensions for a concise simulation.
In order to do so, I followed to the provided Wiki http://www.bulletphysics.org/mediawiki- ... _The_World.
I scaled all the linear properties and concerning the resulting forces, everything turned out physically consistent.
Note that I did not scale up the liner and angular stiffness and damping values.
However I encountered significant deviations concerning the spring-related torques resulting due to a angular spring offset. I guess that this issue arises due to the fact that the torques should be scaled (*scale^2) as well. However I do not see a way of scaling the internal torque representation of the btGeneric6DofSpring2Constraint. Should i simply scale up the angular spring stiffness and spring damping by a factor (*scale^2) or is there a better more elegant way to retrieve physically consistent results (forces, torques, motion) when trying to scale a world containing the btGeneric6DofSpring2Constraint?
In order to do so, I followed to the provided Wiki http://www.bulletphysics.org/mediawiki- ... _The_World.
I scaled all the linear properties and concerning the resulting forces, everything turned out physically consistent.
Note that I did not scale up the liner and angular stiffness and damping values.
However I encountered significant deviations concerning the spring-related torques resulting due to a angular spring offset. I guess that this issue arises due to the fact that the torques should be scaled (*scale^2) as well. However I do not see a way of scaling the internal torque representation of the btGeneric6DofSpring2Constraint. Should i simply scale up the angular spring stiffness and spring damping by a factor (*scale^2) or is there a better more elegant way to retrieve physically consistent results (forces, torques, motion) when trying to scale a world containing the btGeneric6DofSpring2Constraint?