Collision issue between SCM Terrain and URDF Model when Moving Patches is enabled

[Madhava Pandiyan]

Hello Chrono Team,

I am using SCM terrain from Vehicle Module and Robot URDF model using Parser Module. When the feature Moving Patches is added in SCM terrain, there is no collision between the Robot and the SCM terrain. But when the Moving Patches is disabled, there is no collision issue. Can I know the reason behind this behavior?

I have attached the Code file as well as URDF file used.

Thank you in advance.

Kind Regards,

Madhava Pandiyan

[Radu Serban]

Madhava,

The most likely cause for this is that you specified the body-attached active boxes incorrectly.  Note that you should specify such boxes only for bodies that are expected to interact with the SCM terrain, and these boxes should completely contain that body’s collision model.

I suggest you check out the latest code in the ‘main’ git branch and use the Chrono::VSG run-time visualization. When simulating SCM terrain, you have the option to visualize these active boxes which should help you figure out if they are defined correctly.

--Radu

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