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
- Foldout arrow indent is misaligned in the Inspector when used in Custom Type
- [Android] The Player screen turns black when playing a video under certain conditions
- Search window icons at the bottom are cut off when Search window is resized vertically
- "Try something else?" text label is cut off when searching for a long text in the Search window
- Rendering Debugger window sections do not have a minimum width set when resizing with the slider in the middle of the window
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.