Search Issue Tracker
By Design
Votes
0
Found in
2020.3
2020.3.11f1
2021.1
2021.2
2022.1
Issue ID
1345543
Regression
No
Force applied on Articulation Body Component is inconsistent with inertiaTensor values
Reproduction steps:
1. Open project "AMR-POC.zip
2. Open Scene "TurtlebotInertiaTest"
3. Enter Play Mode
4. Press the up and down arrow keys on your keyboard
5. Observe Game view
6. Select GameObject "wheel_right_link"
7. Change Inertia Tensor values in the Inertia Tensor Update script to (0.0001, 0.0001, 0.0001)
8. Select GameObject "wheel_left_link"
9. Change Inertia Tensor values in the Inertia Tensor Update script to (0.0001, 0.0001, 0.0001)
10. In Game view press the up and down arrow keys on your keyboard
11. Observe Game view
Expected result: GameObject is moving faster when lowering the inertia
Actual result: GameObject is moving slower when lowering the inertia
Reproducible with: 2020.3.13f1, 2021.1.14f, 2021.2.0b1, 2022.1.0a1
Could not test with: 2018.4.36f1, 2019.4.28f1 (Don't have Articulation Body Component)
Add comment
All about bugs
View bugs we have successfully reproduced, and vote for the bugs you want to see fixed most urgently.
Latest issues
- “[Worker0] Could not generate preview image“ error when opening macOS native plugin in the Inspector with Architecture to build for set to ARM 64-bit
- [iOS] Application.absoluteURL is empty on Awake/Start when opening via deep link with Splash Screen disabled
- Crash on MemoryManager::Deallocate when rapidly calling Addressables.LoadAssetAsync
- Crash on physx::shdfnd::atomicIncrement when adjusting values on a character controller component after entering Play mode in Prefab edit mode
- [Rendering Debugger] [NewInputSystem] Debug Overlays in Play mode throws InvalidOperationException when using New Input System
Resolution Note (2022.1.X):
It doesn't appear to me that the angular acceleration is proportional to the tensor in this case. Instead, it looks as starting from some particular value of tensor, wheels are much harder to turn compared to the body, and at (1, 1, 1) the body is at least a 100x times easier to turn than the wheels so we see it accelerating instead.