few issues with HalfPlane

[hammoudbilal]

I setup a small demo with a point mass falling onto the inclined plane then sliding down,
there are few issues that remain

1. sliding of point mass doesn't stop no matter how much I increase coefficient of friction
2. the plane I setup intersects the floor at z = 0, ideally the contact object should switch there from half plane to floor, it doesn't

looking at the friction force, it is in the opposite direction (with the inclination of the plane),
it is probably something wrong with how I am picturing the tangent directions in my head and transforming them

[andreadelprete]

Hi @hammoudbilal ,
I don't why the switch between the two planes does not work, but that's not too surprising given that we've never worked with more than one contact surface. Regarding the need for testing a sliding point mass, there's already a test that does that here: https://github.com/andreadelprete/consim/blob/master/script/consim_py/test_sliding_mass_cpp.py
I've just ran it and it seems to work well.

[hammoudbilal]

Hi @andreadelprete

I am aware of the point mass example, I was trying to create a more generalized contact object of oriented half planes .. however I don't see the difference between a block sliding down a slope and a point mass on flat ground with a constant tangential force applied on it .. I think it would serve the purpose of showing the behavior of the anchor point in the same way, I will finish it anyways