when I change my articulation joints Xdrive target, it has an unwanted affect on the parent articulation joint. When the child articulation joint rotates very fast, it moves the parent articulation joint with it. Here is a video demonstration:xa6y9r
I need help fixing this, what I want is for the child articulation joint to be able to rotate at high speeds without affecting the parent.
The parent has a rigidbody?
If it has one it can be the fact that the momentum of the child moved him
the parent does not have a rigid body, but it does have an articulation body.
I have read the docs and it says that changing the constraints can affect in the parent and chld anchor. Try freezing the parent
Caveat, this is untested speculation on my part, but you may wish to experiment with some of these thoughts.
Articulation bodies (Featherstone solvers) are sensitive to inertia values and integration accuracy of high angular velocities.
Have you tried switching your physics solver to Gauss Seidel?
If possible, consider locking the x and z rotations of the root body (you will probably need Gauss Seidel for that to work properly).
I wonder if you increase the inertia tensor for the root it might help with stability.
I notice you don’t have any damping on the root articulation (and I am not sure if this is required, but it might be worth adding). You could also try increasing your 5% damping values to 10-20%
Have you looked at the output from your PD controller? Have you tried substituting a smooth, non-oscillating output generator for it to test if you are accidentally requesting rapid angular velocity changes? It may be necessary to cap the maximum angular velocity and acceleration requested by your controller as this can result in very high moments.
GL
how do i switch to gauss seidel?
Edit > Project Settings > Physics > Solver Type > Temporal Gauss Seidel