Strange behavior of the CHRONO/MULTICORE collision system in the "demo_MBS_collision_trimesh.cpp" demo
Paul-Otto Müller
I've got a question regarding the "demo_MBS_collision_trimesh.cpp" demo.
If I change the collision system type from "BULLET" to "MULTICORE", somehow the collision shapes are no longer aligned with the visualization model.
The reason for this seems to be line 111, where the COG frame is moved relative to the REF frame. When the rotational part (principal_inertia_rot) is removed, the issue does not occur.
I don't know if I need to change anything or if this behavior may be as intended.
The code was compiled with the newest version of Project Chrono from the main Git branch (but this also occurs with older versions).
Looking forward to your response.
Kind regards,
Paul
Radu Serban
Hi Paul,
Thank you for pointing this out. I confirm that there is a bug when the frame orientation is changed. I will look into this when I get a chance.
--Radu
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Radu Serban
Paul, I finally got a chance to look at this issue earlier today. I pushed a fix.
--Radu
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