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Add joint_natural_frequency and joint_damping_ratio to GenericJoint. #789

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@Vrixyz Vrixyz commented Jan 14, 2025

⚠️ I'm not sure about multibodies, their cfm_coeff and rhs_bias computed from joint_natural_frequency and joint_damping_ratio is shared with all constraint solver methods, so we'd probably need a strategy to conciliate different values into one?

  • I'd like to add example for that, but lack intuition on what values to input.

@@ -89,6 +89,13 @@ impl JointGenericTwoBodyConstraint {
locked_axes,
);

let joint_natural_frequency = joint
.joint_natural_frequency
.unwrap_or(params.joint_natural_frequency);
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TODO: remove params.joint_natural_frequency and params.joint_damping_ratio

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Add the possiblity to set joint_natural_frequency and joint_damping_ratio per joint
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