[ODE] Contact Constraints: First Order Slip?

[Ruud van Gaal]

...
> it has just occured to me ... i can't think of any ODE base 
> vehicle sim
> that actually takes full advantage of ODE's contact modeling
> capabilities to model different road surfaces. asphalt, concrete,
> gravel, ice and mud will all have different mu, slip(FDS), 
> soft_cfm and
> soft_erp parameters. there's potential here for somebody to 
> do a really
> good job...

Actually, mu changes quite considerably with load, slip ratio, temperature
etc. :)
You would get somewhere with the above, but nothing like a Pacejka model.

Ruud
(www.racer.nl)