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Add the Ability to Control the Side-to-Side Grip of a Raycast Vehicle Wheels

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This commit is contained in:
Nash
2023-03-20 22:49:51 -04:00
committed by Sébastien Crozet
parent e4e37b4d9c
commit c1860c504b
2 changed files with 14 additions and 7 deletions
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19
src/control/ray_cast_vehicle_controller.rs
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@@ -37,7 +37,7 @@ pub struct WheelTuning {
pub suspension_damping: Real,
/// The maximum distance the suspension can travel before and after its resting length.
pub max_suspension_travel: Real,
/// Parameter controlling how much traction the tire his.
/// Parameter controlling how much traction the tire has.
///
/// The larger the value, the more instantaneous braking will happen (with the risk of
/// causing the vehicle to flip if it’s too strong).
@@ -86,13 +86,16 @@ struct WheelDesc {
///
/// Increase this value if the suspension appears to overshoot.
pub damping_relaxation: Real,
/// Parameter controlling how much traction the tire his.
/// Parameter controlling how much traction the tire has.
///
/// The larger the value, the more instantaneous braking will happen (with the risk of
/// causing the vehicle to flip if it’s too strong).
pub friction_slip: Real,
/// The maximum force applied by the suspension.
pub max_suspension_force: Real,
/// The multiplier of friction between
/// a tire and the collider it's on top of.
pub initial_side_friction_stiffness: Real,
}
#[derive(Copy, Clone, Debug, PartialEq)]
@@ -128,7 +131,7 @@ pub struct Wheel {
///
/// Increase this value if the suspension appears to overshoot.
pub damping_relaxation: Real,
/// Parameter controlling how much traction the tire his.
/// Parameter controlling how much traction the tire has.
///
/// The larger the value, the more instantaneous braking will happen (with the risk of
/// causing the vehicle to flip if it’s too strong).
@@ -157,6 +160,9 @@ pub struct Wheel {
/// The force applied by the suspension.
pub wheel_suspension_force: Real,
skid_info: Real,
/// The multiplier of friction between
/// a tire and the collider it's on top of.
pub side_friction_stiffness: Real,
}
impl Wheel {
@@ -189,6 +195,7 @@ impl Wheel {
skid_info: 0.0,
side_impulse: 0.0,
forward_impulse: 0.0,
side_friction_stiffness: info.initial_side_friction_stiffness,
}
}
@@ -246,6 +253,7 @@ impl DynamicRayCastVehicleController {
axle_cs: Vector<Real>,
suspension_rest_length: Real,
radius: Real,
side_friction_stiffness: Real,
tuning: &WheelTuning,
) -> &mut Wheel {
let ci = WheelDesc {
@@ -260,6 +268,7 @@ impl DynamicRayCastVehicleController {
friction_slip: tuning.friction_slip,
max_suspension_travel: tuning.max_suspension_travel,
max_suspension_force: tuning.max_suspension_force,
initial_side_friction_stiffness: side_friction_stiffness,
};
let wheel_id = self.wheels.len();
@@ -509,8 +518,6 @@ impl DynamicRayCastVehicleController {
}
}
const SIDE_FRICTION_STIFFNESS2: Real = 1.0;
fn update_friction(&mut self, bodies: &mut RigidBodySet, colliders: &ColliderSet, dt: Real) {
let num_wheels = self.wheels.len();
@@ -574,7 +581,7 @@ impl DynamicRayCastVehicleController {
);
}
wheel.side_impulse *= Self::SIDE_FRICTION_STIFFNESS2;
wheel.side_impulse *= wheel.side_friction_stiffness;
}
}
}