Disable contact at runtime

[raisimtech]

Disable contact at runtime

[jhwangbo]

I pushed this feature just now. You can do

  for (auto &colBody : aliengo->getCollisionBodies()) {
    colBody.setCollisionMask(-1);
    colBody.setCollisionGroup(-1);
  }

will add this to doc tmr

[jhwangbo]

The default collision behavior was "or" which means mask2 & group1 || mask1 & group2. I changed the logic to and. It should work now

[RobertoRoos]

Thank you very much!

Follow-up question, is there a mask that disables all contact?
I tried the following:

/// Disable all contacts
const bool enable = false;
for (auto& colBody : robot->getCollisionBodies()) {

    // Set some non-default collision group
    const auto col_group = raisim::COLLISION(99);
    colBody.setCollisionGroup(col_group);

    // Either let it only collide with itself, or with everything (= -1)
    if (enable) {
        colBody.setCollisionMask(-1);
    } else {
        colBody.setCollisionMask(0);
    }
}

And linking it only with its own group:

        colBody.setCollisionMask(raisim::COLLISION(99));

But in both cases my robot still lands on the floor (while I want it to go through it)