I want to divide my model into 3 collision groups. Member of a particular group can collide with all other groups but not with a member of the same group. I know this is possible but am unable to do it. Please help with an example on how this can be achieved.
I solved the problem using the Selection rules in Collision Detection section in Computation. Contype and conaffinity can be set in incremental way like this <geom name="geom1" contype="1" conaffinity="0"/> <geom name="geom2" contype="2" conaffinity="1"/> <geom name="geom3" contype="4" conaffinity="3"/> Earlier I did not realised the boolean and (&) in contype filtering and thought it was strictly based on equality.