Freejoint body penetrating the floor

Discussion in 'Simulation' started by Giusebar, Aug 1, 2018.

  1. Hi,

    I'm getting some odd behaviour when adding a body to my environment. The spawned object results to be slightly inside the ground as showed in the attached picture.

    I tried to spawn the box from height to watch it fall from 10 cm height. When the box touches the floor it penetrates it a lot and then it receives an upward force. Then it behaves like a spring damper and it smooths with the time to reach the pose showed in the attached picture. It looks like there is a soft contact or some constraint violation happening, but I cannot figure out what am I doing wrong.
    Is there a way to define hard contact between the floor and the object? I attached the .xml of the environment and the options that I'm currently using.

    Looking forward to hear back from you,
    Thanks
    Giuseppe
     

    Attached Files: