We are currently trying to set up a kind of cargo lifter simulation with PhysX.
The pose of an actor which represents the carrier (grey box in image) is given by another program. If the carrier is positioned correctly under a cargo element (white box), it should be able to:
A/B lift the cargo
D move with the cargo on top between different storage locations
C drop the cargo.
The main problem we face is to avoid that the cargo slips from the moving (kinematic) carrier, but can also be easily stacked on the storage pillars.
We investigated some possibilities of how to model that with PhysX, but meanwhile we’re quite stuck with the amount of options.
We thought of switching the cargo between kinematic and dynamic mode. Fixed joints between the carrier and the cargo during transport might also be a way to go, deleting them as soon as the cargo is dropped. But how do we register the drop collision? Do we need sweep queries if the carrier pose is updated too slowly?
Could someone please point us in the right direction?