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normalizedForce is compared to normalizedGravity, is not a physical nonsense? #2341

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marcociara379 opened this issue Dec 11, 2019 · 1 comment
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normalizedForce is compared to normalizedGravity, is not a physical nonsense? #2341

marcociara379 opened this issue Dec 11, 2019 · 1 comment

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@marcociara379
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marcociara379 commented Dec 11, 2019 •
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Hello everyone.
Looking at FastPhysicsEngine.hpp it is possible to see that the aircraft is set to not grounded (body.setGrounded(false)) whenever the normalizedForce (squared norm of body_wrench.force) is greater or equal the normalizedGravity. Why is that? They are different physical quantities. Should not it be something like

if (normalizedForce/body.getMass()/body.getMass() >= normalizedGravity)
[...]

Thanks,
Marco
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@saihv @madratman @marcociara379