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bullet-featherstone: implement support for contactSurfaceMotionVelocity #569

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Tracked by #545
scpeters opened this issue Nov 9, 2023 · 0 comments
Open
Tracked by #545

bullet-featherstone: implement support for contactSurfaceMotionVelocity #569

scpeters opened this issue Nov 9, 2023 · 0 comments
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Bullet Bullet engine enhancement New feature or request

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@scpeters
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scpeters commented Nov 9, 2023 •
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Desired behavior

The contactSurfaceMotionVelocity parameter was added to the ContactSurfaceParams data structure in ContactProperties.hh in #267. This parameter can be used to model tracked vehicle mobility and conveyor belts. It is currently implemented in dartsim, and we should implement support in bullet-featherstone as well.

Part of #545.

Alternatives considered

Implementation suggestion

A forum post suggests that using the m_contactMotion1 and m_contactMotion2 parameters from btManifoldPoint can be used to simulate conveyor belt behavior, so that may be a good place to start.

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@scpeters scpeters added enhancement New feature or request Bullet Bullet engine labels Nov 9, 2023
@scpeters scpeters mentioned this issue Nov 9, 2023
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Bullet Bullet engine enhancement New feature or request
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