CoppeliaSim forums

Hello,

I am using Vrep(with Bullet 2.83) to simulate a ball hitting behavior of a robot arm. Because the relative speed between the ball and the racket is relative large(10m/s), and the racket is thin (1cm thickness), sometimes the ball just fly cross the racket without collision and returning.

Some of my current setting in simulation:
engine:Bullet 2.83,
configuration: very accurate,
vrep sim step, dt=10ms,
time step of bullet: 5ms

I would like to ask some suggestion to set the parameters of Vrep and Bullet in a proper way so that the collision can be handled. Thank you in advance!

Fitz

Position is updated at discrete time steps, so "crossing" may occur when you have high velocity and/or thin objects.
With a time-step of 5ms, an object traveling at 10m/s will move by 5cm each time-step. Either have your respondable shape thicker than 5cm or decrease time-step.

ODE and Bullet have a plane geometry class that allows to specify an infinite plane in absolute coords ax+by+cz=d that would not suffer of this "crossing" problem, but that would only work for a static plane.

Hi fferri,

Thank you for your reply. Yes I also did the same thing to increase the thickness of the racket geometry. Now this problem has been temporarily solved.

Have a nice day!

Fitz