Question About Collision Impulse

[wenhao_zheng]

Yes, fixed update is used by default in Obi 7. Substeps are a property of the solver instead of the updater, since explicit updaters are no longer needed.

Thanks!!!  

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I am ashamed to say that I encountered another problem.  

I obtained the sum of impulses at the collision point when ObiSoftbody and ObiRigidbody collided. And applied this sum of impulses to the Articulation Body with the same mass as ObiRigidbody.
Regardless of whether I converted the impulse to force or not, I felt that the momentum applied to the ArticulationBody was too large, and it knocked the contact rigid body away.

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We don't need to discuss the difference between Unity Rigidbody or ArticulationBody first, because both use the same set of physical frameworks, and the parameters of the two are naturally of the same scale.

So I wonder if the impulse of the Obi physics engine has a scale difference from the impulse of the Unity physics engine.
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At the same time, Obi can use ObiRigidbody to realize physical feedback to Unity Rigidbody.

So I am curious about how ObiRigidbody transfers the correct physical momentum to Rigidbody.