From c1860c504bf271e5ed67e6019f7464d00478fb58 Mon Sep 17 00:00:00 2001 From: Nash Date: Mon, 20 Mar 2023 22:49:51 -0400 Subject: Add the Ability to Control the Side-to-Side Grip of a Raycast Vehicle Wheels --- src/control/ray_cast_vehicle_controller.rs | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) (limited to 'src') diff --git a/src/control/ray_cast_vehicle_controller.rs b/src/control/ray_cast_vehicle_controller.rs index 42bb112..0d0a437 100644 --- a/src/control/ray_cast_vehicle_controller.rs +++ b/src/control/ray_cast_vehicle_controller.rs @@ -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, 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; } } } -- cgit From 285fe89dd5562c27db0ab5a2e913fd102e9dcee8 Mon Sep 17 00:00:00 2001 From: Nash Date: Tue, 21 Mar 2023 10:07:23 -0400 Subject: Make raycast vehicle friction_slip property public --- src/control/ray_cast_vehicle_controller.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src') diff --git a/src/control/ray_cast_vehicle_controller.rs b/src/control/ray_cast_vehicle_controller.rs index 0d0a437..bea698c 100644 --- a/src/control/ray_cast_vehicle_controller.rs +++ b/src/control/ray_cast_vehicle_controller.rs @@ -135,7 +135,7 @@ pub struct Wheel { /// /// The larger the value, the more instantaneous braking will happen (with the risk of /// causing the vehicle to flip if it’s too strong). - friction_slip: Real, + pub friction_slip: Real, /// The wheel’s current rotation on its axle. pub rotation: Real, delta_rotation: Real, -- cgit From 8bd289bc73175be477b182ca4d92cb0944fbfe17 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 26 Mar 2023 15:04:07 +0200 Subject: Move the side_friction_stiffness init to the WheelTuning --- src/control/ray_cast_vehicle_controller.rs | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'src') diff --git a/src/control/ray_cast_vehicle_controller.rs b/src/control/ray_cast_vehicle_controller.rs index bea698c..5daa435 100644 --- a/src/control/ray_cast_vehicle_controller.rs +++ b/src/control/ray_cast_vehicle_controller.rs @@ -37,6 +37,8 @@ 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, + /// The multiplier of friction between a tire and the collider it's on top of. + pub side_friction_stiffness: Real, /// Parameter controlling how much traction the tire has. /// /// The larger the value, the more instantaneous braking will happen (with the risk of @@ -53,6 +55,7 @@ impl Default for WheelTuning { suspension_compression: 0.83, suspension_damping: 0.88, max_suspension_travel: 5.0, + side_friction_stiffness: 1.0, friction_slip: 10.5, max_suspension_force: 6000.0, } @@ -93,9 +96,8 @@ struct WheelDesc { 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, + /// The multiplier of friction between a tire and the collider it's on top of. + pub side_friction_stiffness: Real, } #[derive(Copy, Clone, Debug, PartialEq)] @@ -136,6 +138,8 @@ pub struct Wheel { /// 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 multiplier of friction between a tire and the collider it's on top of. + pub side_friction_stiffness: Real, /// The wheel’s current rotation on its axle. pub rotation: Real, delta_rotation: Real, @@ -160,9 +164,6 @@ 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 { @@ -195,7 +196,7 @@ impl Wheel { skid_info: 0.0, side_impulse: 0.0, forward_impulse: 0.0, - side_friction_stiffness: info.initial_side_friction_stiffness, + side_friction_stiffness: info.side_friction_stiffness, } } @@ -253,7 +254,6 @@ impl DynamicRayCastVehicleController { axle_cs: Vector, suspension_rest_length: Real, radius: Real, - side_friction_stiffness: Real, tuning: &WheelTuning, ) -> &mut Wheel { let ci = WheelDesc { @@ -268,7 +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, + side_friction_stiffness: tuning.side_friction_stiffness, }; let wheel_id = self.wheels.len(); -- cgit