How to prevent a heavy rigidbody object from penetrating another?

I'm developing a multiplayer Jenga game, I'm having difficulty stacking a large amount of bricks, even controlling gravity and the mass of the objects, the bricks at the bottom of the pile end up penetrating each other, knocking the pile down.

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You are probably going to have a very hard time with this level of fidelity from the physics simulator. It's good for a rough simulation of a bunch of items but can get freaked out by the slightest nudge in a way that real Jenga tiles won't.

I suggest you keep all the rigidbodies isKinematic=true and slightly undersized from the spacing of the tower blocks. Measure the grab/push/poke forces of players' hands yourself. Animate some swaying motion in a cartoony fashion depending on how stable or unstable you think the tower should be at each level. When your players have gone too far, nudged too hard, or removed a supporting block, turn off the isKinematic flags, and let the physics system do the job of toppling the whole tower in a pseudo-realistic way.

Sounds like a great party game. Be careful of the Jenga trademark and you'll be popular.

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Thanks for the feedback,
I've developed a solution that works, but I'm not sure it's best practice.
When I spawn the bricks in the scene, I change their mass proportionally to the Y axis, so the mass of the bricks decreases as they get higher in the tower.
I also calculate the mass once the brick is dropped on top.
Apparently it's working very well.

thisObject.GetComponent().mass = 30-(thisObject.gameObject.transform.position.y*20f);