Question About Collision Impulse

[wenhao_zheng]

Hi!

Correct, Obi only implements rigidbodies but not articulation bodies.


Simply divide by time squared. In Obi's case, "time" is the duration of a substep. Sample pseudocode, assuming you're using ObiFixedUpdater:

Code:

force = lambdaImpulse / (Mathf.Pow(Time.fixedDeltaTime / ObiFixedUpdater.substeps, 2));

kind regards,

Thanks!

By the way, there seems to be no explicit Updater component in Obi7.
Is Fixupdater used by default in the underlying simulation?