[ODE] help for check the direction of the fdir1 in the wheel simulation

Thu Nov 22 01:51:57 MST 2007

From the ODE's  user guide, it says "set friction direction 1 in the
direction that the tire is rolling in, and set the FDS slip coefﬁcient in
friction direction 2 to k ∗v".

So if the wheel is rolling, the fdir1 will be the direction of the linear
velocity, and the fdir2 will be the side direction of the wheel. And also we
can say the fdir2 is the direction of  rolling axis.

So, why we need set the slip coefficient on the side direction but not along
the direction of the linear velocity?
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