Describe in which cases solid contacts are ignored #80
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| @@ -97,8 +110,8 @@ to define initial velocities for every physical objects in the scene. | |||
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| ### How to use the boundingObject field? | |||
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| `boundingObject`s are used to define the bounds of a [Solid](#solid) as | |||
| geometrical primitive. Each `boundingObject` can hold one or several geometrical | |||
| The `boundingObject` field is used to define the bounds of a [Solid](#solid) as geometrical primitive. | |||
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(Note: this PR has not been merged.) |
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This PR improve the documentation w.r.t. omichel/webots#3962 that has not been merged. |
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| @@ -95,8 +95,7 @@ necessary to specify all the [Physics](#physics) nodes in a Webots world. | |||
| Whether to use or not a [Physics](#physics) node in a particular case depends on | |||
| what aspect of the real world your want to model in your simulation. | |||
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| Note that if a [Solid](#solid) node contains a [Physics](#physics) node but none of its ancestor nodes contain a [Physics](#physics) node, then this node will be simulated in *physics* mode and it will move independently from its ancestor nodes. | |||
| This is not true for the [TouchSensor](#touchsensor) node. If all the ancestor nodes contain no [Physics](#physics) node, the [TouchSensor](#touchsensor) is attached to the static environment with an ODE fixed joint and thus it won't move from its initial position. | |||
| Note that if a [Solid](#solid) node contains a [Physics](#physics) node but none of its ancestor nodes contain a [Physics](#physics) node, then this node will be attached to the static environment with an ODE fixed joint and thus it won't move from its initial position. | |||
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Does it mean that the Ball of the Darwin-op soccer is attached to the static environment with a fixed joint?
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No, because the top Ball solid is not a kinematic object, i.e. the top Solid with physics has no parent Solid (with or without physics).
I didn't changed anything in the way solid are attached to the static object w.r.t to the previous Webots implementation. But it is good to describe this behavior in the documentation.
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Then, we should rephrase it this way:
Note that if a Solid node is a children of another node and contains a Physics node but none of its ancestor nodes contain a Physics node, then this node will be attached to the static environment with an ODE fixed joint and thus it won't move from its initial position.
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But it is still not explicit that it has to have at least one Solid parent and not any parent node.
What about:
Note that if a Solid node has at least one Solid ancestor node and contains a Physics node but none of its ancestor Solid nodes contain a Physics node, then this node will be attached to the static environment with an ODE fixed joint and thus it won't move from its initial position.
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The paragraph has been copied from the
Robot.selfCollisionsection and improved to include the new case of a body linked to the static environment using a joint.I also added a new line between the field items of the enumeration to make the text more readable.
At the moment the source files are not consistent with respect to this point and some of them have a new line between the item and others not. I will unify them in a different PR.
Linked with https://github.com/omichel/webots/pull/3962