Collision avoidance/detection in chain

[jameschenglei]

I am modelling a biped robot. To avoid collision between consecutive members, I am shriking the parts down so that they don't collide. I tried using the collision self collision indicator option but it did not work. Is there any other way to supress collision between consecutive link elements? Will turning off the respondable for one member help?

[coppelia]

Hello,

if you are talking about collision response (versus collision detection), then indeed, the respondable mask is what you should look at. Make sure that two consecutive respondable shapes have a respondable mask that results in zero, when AND-combined (AND binary operator). Since the shapes all have a common ancestor, you should look at the local respondable mask. So, e.g. you could have:

Code: Select all

link1: local respondable mask = 1111 0000
link2: local respondable mask = 0000 1111
link3: local respondable mask = 1111 0000
link4: local respondable mask = 0000 1111
etc.

following (or any other combination with similar effect is of course also possible):

Code: Select all

link1: local respondable mask = 1000 0000
link2: local respondable mask = 0100 0000
link3: local respondable mask = 0010 0000
link4: local respondable mask = 0001 0000
etc.

Cheers