Collision with ground
jrieffel opened this issue · comments
This is simply an artifact of how the voxels are drawn in voxcraft-viz when they are smushed against the ground due to their softness and the weight of the overall robot. Remember: there are no voxels. Not in in the simulation anyway. There are only beams between masses, and springs against the ground. These interacting elements could represent, and be drawn as, discrete voxels or spheres, or with a smooth mesh generated via marching cubes. If this bothers you aesthetically, it might be easier to modify the appearance in Unity. We provide an example of this here.
Sorry about the slight penetration. Haha. maybe next time we should draw a thicker "floor" and disable watching the robot from "underground".
could you take a picture of the "unstable" scene? So we can diagnose and come up with some potential explanations.
I'm closing this thread about how the sim is drawn. @jrieffel please submit another issue with the materials needed to reproduce your unstable simulation.