Featherstone's solver for articulations

Hi,
I would also like to support the request for exposing the ‘rest offset’ parameter on colliders.
Over the years, I’ve seen numerous threads on these forums asking for help related to bodies hitting collider seams when sliding (some recent examples: 1, 2 , [3]( Experimental contacts modification API page-4#post-8359293), 4).

From PhysX documentation and developer comments, it seems like one of the simplest way to mitigate the issue is to increase the ‘rest offset’ for the participating colliders.

https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxguide/Manual/AdvancedCollisionDetection.html

https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxapi/files/classPxShape.html#a413afb25b39a7a0cf0981aa01c6d7f8b

I have created a simple scene to test the effect of the rest offset setting on another engine, and recorded the results in the PhysX Visual Debugger.
readyunfinishedalaskankleekai
In the video, both yellow ramps are made from a number of same-sized cubes placed next to each other.
The cubes making up the ramp that is further away from the camera have a ‘rest offset’ setting of zero, while
the ones making up ramp that is closest have ‘rest offset’ that is larger than zero.
The sliding green cubes hit every seam between colliders in the first ramp, but slide smoothly on the closest one with the non-zero rest offset.

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