Spring/damper has no effect in driving articulation joint about physx-rs HOT 10 CLOSED

How is the joint configured?

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How is the joint configured?

All Spherical joints, with limits but rather large limits. EDIT..set motion type to FREE

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Are you setting motion type per axis?

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Yes like this:

                    PX::set_articulation_joint_type(
                        joint_ptr as PtrArticulationJointReducedCoordinate,
                        PS::PxArticulationJointType::Spherical,
                    );
                    PX::set_articulation_joint_reduced_motion(
                        joint_ptr as PtrArticulationJointReducedCoordinate,
                        PS::PxArticulationAxis::Swing1,
                        PS::PxArticulationMotion::Free,
                    );
                    PX::set_articulation_joint_reduced_motion(
                        joint_ptr as PtrArticulationJointReducedCoordinate,
                        PS::PxArticulationAxis::Swing2,
                        PS::PxArticulationMotion::Free,
                    );
                    PX::set_articulation_joint_reduced_motion(
                        joint_ptr as PtrArticulationJointReducedCoordinate,
                        PS::PxArticulationAxis::Twist,
                        PS::PxArticulationMotion::Free,
                    );

from physx-rs.

Hmm. I'd narrow it down a bit by using a limited spherical joint, and probably using a Force drive type rather than Target. That'd be a more regular setup I think. This seems like a configuration issue, more so than a binding problem until we can prove the opposite. Articulation joints and drives are a lot less forgiving for configuration errors than their regular variants.

Just to double-check though; @blunzn or @bpaberg -- you've both looked at the articulations recently; did you notice any issues with drives?

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I could try to use velocity drive to see if it makes a difference, it should be possible to drive towards an orientation using velocity as well, by setting velocity to zero when target is reached.

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I'm not sure why force drive would work better?

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Ok once I'm home I'll make a minimal example to try to reproduce it.

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My bad, I should've use FORCE joint drive type instead of TARGET.

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Thanks for the follow-up @mlp1802!

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