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Fix bug in implementation of torquescale

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PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
This commit is contained in:
Yuval Tassa
2023-10-28 08:24:05 -07:00
committed by Copybara-Service
parent 930c707e00
commit 86d9c84e59
6 changed files with 33 additions and 13 deletions
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doc/XMLreference.rst
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@@ -4486,11 +4486,12 @@ of the other body, without any joint elements in the child body.
.. _equality-weld-torquescale:
:at:`torquescale`: :at-val:`real, "1"`
Relative torque-to-force ratio. This ratio is used by the weld to scale how much it "cares" about rotational
displacements vs. translational displacements. Setting this value to 0 makes the :el:`weld` behave like a
:el:`connect` constraint. Note that this value has units of length and can therefore be interpreted as follows.
Imagining that the weld is implemented by a patch of glue sticking the two bodies together, :at:`torquescale` can be
interpreted as the diameter of this glue patch.
A constant that scales the angular residual (angular constraint violation). Notionally in units of
:math:`\textrm{torque}/\textrm{force}=\textrm{length}`. Intuitively this coefficient defines how much the weld
"cares" about rotational displacements vs. translational displacements. Setting this value to 0 makes the :el:`weld`
behave like a :el:`connect` constraint. Note that this value has units of length and can therefore be understood as
follows. Imagining that the weld is implemented by a flat patch of glue sticking the two bodies together,
:at:`torquescale` can be interpreted as the diameter of this glue patch.
.. _equality-joint: