I wonder where can I find the documentation for how MuJoCo resolving mechanism, especially for the below two cases:
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what if two bodies start by colliding with each other? in this case what will be the direction of repulsive force and if the penetrated mesh points are considered as "contact points"?
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If a body hits another body at a high speed, one would expect a high enough volume of penetration so that sufficient repulsive force exists to reduce the velocity. I wonder what parameters can be set related to the contact so that the penetration volume can be reduced (essentially close to hard contact, but preserves the continuity)?
I wonder where can I find the documentation for how MuJoCo resolving mechanism, especially for the below two cases:
what if two bodies start by colliding with each other? in this case what will be the direction of repulsive force and if the penetrated mesh points are considered as "contact points"?
If a body hits another body at a high speed, one would expect a high enough volume of penetration so that sufficient repulsive force exists to reduce the velocity. I wonder what parameters can be set related to the contact so that the penetration volume can be reduced (essentially close to hard contact, but preserves the continuity)?