[ODE] Calculating FDir1 For Vehicle Tires.

[David Whittaker]

Easiest way to calculate FDir1:

Assume geom is the wheel geom.

dBodyID b = dGeomGetBody(geom);
dReal * fdir1 = dBodyGetLinearVel(b);

In other words, generally, the linear velocity of the body is a good
choice for fdir1.  The joint should take care of normalizing it and
ensuring it is perpendicular to the contact normal.

I haven't used slip to model tire friction, but that is what it's designed
for....

David


> I'm attempting to use ODE's friction model for my vehicle tires.
>
> What is the best way to calculate FDir1? I assume I can use Axis1's
> rotation  to calculate this.
>
> Also, has anyone used the "slip" parameters for the contact joint to
> successfully model vehicle wheel friction?
>
> Any other hints and tips related to wheel friction are welcome.
>
> -jeff
>
>
>
>
>
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