Simulation of non-simple, non-convex shapes

[Stigran]

Hello everyone,

i have imported a CAD mesh of a swerve drive into V-REP, and i wanted to make it respondable and dynamic to use it in a simulation: but i got a warning about it (them really, it's still divided in many objects) being a complex shape. V-REP can still handle the simulation when only a few objects are made respondable, but it's not good enough. I tried using the morph options on the model but the same error happened.

To solve this i have tried looking at some of the example models, and it looks like they use simple textures which are somehow connected to invisible objects and joints who are actually simulated, like the pioneer_p3dx.

I'd like to do the same thing with my model, making only the steering gears and the wheel mobile by connecting them to joints, but i can't seem to find how to. Any help is appreciated, and thank you for your attention!

[coppelia]

Hello,

make sure to carefully read this page, mainly the design considerations 1-11.
Then maybe also this tutorial.

Cheers

[Stigran]

Thank you very much, those files seem to have everything i need to solve this problem, i'll study them.
Have a good day!