[ODE] Simulation of tank

Bram Stolk bram at sara.nl
Fri Sep 8 09:49:57 MST 2006

Peter Libic( wrote:
> Hi,
> I'm trying to write a simulation of a tank on a trimesh terrain.
> I tried to simulate it using one box with four spheres-wheels in corners.  
> Then I applied torque or amotor to the wheels. For turning I applied to left wheels 
> more torque and to  the left wheels  less, or negative torque. This didn't worked well.
> So I tried to let the wheeels only for acceleration and braking and to turn I used torque 
> for the chasis-box in desired direction. When I reduced the mu value this worked quite well 
> for big wheels and boxes, but for smaller ones it's really bad.
> Could anyone give me advice, how should I simulate the tank?

cyl vs trimesh test is available in ode, so I would use cylinders,
probably quite a few on each side.

You could also go overboard, and pull all the stops out:
model the tracks as a set of boxes with hinge joints.

A bit similar to this:


> Thanks a lot,
> Peter
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