I have been trying to add some softness for my grasping ball experiment and I have been struggling to get anywhere. I have been fiddling around with `soft_cfm` and `soft_erp` values.
But if you look at `physics/ode/ODEPhysics.cc`, you can see that the values for `soft_cfm` is calculated using the `kp` and `kd`, so does the value of `soft_cfm` and `soft_erp` have any affect?
// Compute the CFM and ERP by assuming the two bodies form a
// spring-damper system.
double kp = 1.0 / (1.0 / surf1->kp + 1.0 / surf2->kp);
double kd = surf1->kd + surf2->kd;
contact.surface.soft_erp = (this->maxStepSize * kp) /
(this->maxStepSize * kp + kd);
contact.surface.soft_cfm = 1.0 / (this->maxStepSize * kp + kd);
// contact.surface.soft_erp = 0.5*(_collision1->surface->softERP +
// _collision2->surface->softERP);
// contact.surface.soft_cfm = 0.5*(_collision1->surface->softCFM +
// _collision2->surface->softCFM);
↧