I’m working with a robotic arm which consists of a few joints, each joint has a weight. Before I applied stiffness, the arms would behave like ragdolls. After adding stiffness, the arms will now stay in place but they wobble around because they’re really long. It seemed like the issue was dampness so I tried adding dampness but it doesn’t seem to make any difference at all. So I’ve posted all the code below that relates the joint constraints. Any ideas?
UPhysicsConstraintComponent* Constraint = NewObject<UPhysicsConstraintComponent>(ParentComp, FName(Joint->Name.GetCharArray().GetData()));
FConstraintInstance ConstraintInstance = SetConstraint(Joint);
ConstraintInstance.ProfileInstance.LinearLimit.ContactDistance = 10;// 10;
ConstraintInstance.ProfileInstance.TwistLimit.bSoftConstraint = false;
ConstraintInstance.ProfileInstance.ConeLimit.bSoftConstraint = false;
ConstraintInstance.ProfileInstance.TwistLimit.ContactDistance = 5.f;
FRotator rotTarget(0.f, 0.f, 0.f);
ConstraintInstance.ProfileInstance.AngularDrive.AngularDriveMode = EAngularDriveMode::TwistAndSwing;
ConstraintInstance.SetLinearXLimit(ELinearConstraintMotion::LCM_Locked, 0);
ConstraintInstance.SetLinearYLimit(ELinearConstraintMotion::LCM_Locked, 0);
ConstraintInstance.SetLinearZLimit(ELinearConstraintMotion::LCM_Locked, 0);
ConstraintInstance.ProfileInstance.AngularDrive.OrientationTarget = rotTarget;
ConstraintInstance.ProfileInstance.AngularDrive.SlerpDrive.bEnablePositionDrive = true;
ConstraintInstance.ProfileInstance.AngularDrive.SwingDrive.bEnablePositionDrive = true;
ConstraintInstance.ProfileInstance.AngularDrive.TwistDrive.bEnablePositionDrive = true;
ConstraintInstance.ProfileInstance.AngularDrive.SlerpDrive.Damping = 10;
ConstraintInstance.ProfileInstance.AngularDrive.SlerpDrive.Stiffness = 80000;
ConstraintInstance.ProfileInstance.AngularDrive.SwingDrive.Damping = 10;
ConstraintInstance.ProfileInstance.AngularDrive.SwingDrive.Stiffness = 80000;
ConstraintInstance.ProfileInstance.AngularDrive.TwistDrive.Damping = 10;
ConstraintInstance.ProfileInstance.AngularDrive.TwistDrive.Stiffness = 80000;
Constraint->ConstraintInstance = ConstraintInstance;
Constraint->SetDisableCollision(true);
Constraint->AttachToComponent(ParentComp, FAttachmentTransformRules(EAttachmentRule::KeepRelative, false));
Constraint->RegisterComponent();
Constraint->ApplyWorldOffset(FVector(0), false);