I composed the finger joints as an articulation body as shown in the figure below.
And I added a capsule collider as shown below. However, I have confirmed that when I drop a cube with a cube collider on this finger, no physical collision reaction occurs.
I would like the finger to naturally bend when it collides with an object when a finger composed of an articulation body. With an articulation body, how should the collision be handled??
The articulated robot demo doesn’t seem to have any references to this crash.
This should work fine, as long as the collision layers are configured correctly. You might consider lowering the stiffness of the drive, I guess with 2000 this will be very rigid. Do you see no collision at all, or just not an expected movement of the joint?
Thank you for answer.
It has been confirmed that collision determination occurs by adjusting the stiffness.
However, like the attached gif, there is a phenomenon that the finger moves out of the designated position after the collision. Do you know about this?
No, this should not happen if you have a pure articulation setup (without other joints / rigidbodies). Unless you have a prismatic joint, or misconfigured anchors.
