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normal Frictional forces interacting with dynamic body

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30 Jun 2016 02:42 #1

Hello,

I am attempting to manipulate a cube with 2 haptic devices.
The cube was created as follows.

ODEBody0 = new cODEGenericBody(ODEWorld);
dynamicBox = new chai3d::cMesh();

chai3d::cMaterial mat0;
mat0.setBlueRoyal();
mat0.setStiffness(300);
mat0.setDynamicFriction(1.5);
mat0.setStaticFriction(1.5);
mat0.setUseHapticFriction(true);
dynamicBox->setMaterial(mat0);
dynamicBox->setUseMaterial(true);

ODEBody0->createDynamicBox(boxSize, boxSize, boxSize);
ODEBody0->setImageModel(dynamicBox);

The cube reacts to normal forces against its surface as expected. It follows reasonable trajectories when floating in free space and being shoved from any direction. However, I am struggling to use frictional forces to move the cube. I have set the rotational damping very high (so that I don't have to worry about the cube rotating out of grip), but despite this, frictional forces against cube don't seem to make it lift, even if I turn gravity off. The lateral forces against a face don't seem to cause it to move in that direction. Is there anything I'm missing here?

Edit: Not sure what fixed it, but seems to be working now.

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01 Jul 2016 18:06 #2

When you touch the object with the haptic device, do you actually feel any friction forces? Or does the object feel completely slippery?

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