nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #468 from aunyks/ray-cast-vehicle-lateral-wheel-grip

Browse Source 
Add Ability to Control Side-to-Side Grip / Forward Grip of Raycast Vehicle Wheels
This commit is contained in:
Sébastien Crozet
2023-03-26 15:17:53 +02:00
committed by GitHub
parent e4e37b4d9c 8bd289bc73
commit 66fdc38d54
1 changed files with 14 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
src/control/ray_cast_vehicle_controller.rs
View File

@@ -37,7 +37,9 @@ pub struct WheelTuning {
pub suspension_damping: Real, pub suspension_damping: Real,
/// The maximum distance the suspension can travel before and after its resting length. /// The maximum distance the suspension can travel before and after its resting length.
pub max_suspension_travel: Real, pub max_suspension_travel: Real,
/// Parameter controlling how much traction the tire his. /// 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 /// The larger the value, the more instantaneous braking will happen (with the risk of
/// causing the vehicle to flip if it’s too strong). /// causing the vehicle to flip if it’s too strong).
@@ -53,6 +55,7 @@ impl Default for WheelTuning {
suspension_compression: 0.83, suspension_compression: 0.83,
suspension_damping: 0.88, suspension_damping: 0.88,
max_suspension_travel: 5.0, max_suspension_travel: 5.0,
side_friction_stiffness: 1.0,
friction_slip: 10.5, friction_slip: 10.5,
max_suspension_force: 6000.0, max_suspension_force: 6000.0,
} }
@@ -86,13 +89,15 @@ struct WheelDesc {
/// ///
/// Increase this value if the suspension appears to overshoot. /// Increase this value if the suspension appears to overshoot.
pub damping_relaxation: Real, 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 /// The larger the value, the more instantaneous braking will happen (with the risk of
/// causing the vehicle to flip if it’s too strong). /// causing the vehicle to flip if it’s too strong).
pub friction_slip: Real, pub friction_slip: Real,
/// The maximum force applied by the suspension. /// The maximum force applied by the suspension.
pub max_suspension_force: Real, pub max_suspension_force: 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)] #[derive(Copy, Clone, Debug, PartialEq)]
@@ -128,11 +133,13 @@ pub struct Wheel {
/// ///
/// Increase this value if the suspension appears to overshoot. /// Increase this value if the suspension appears to overshoot.
pub damping_relaxation: Real, 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 /// The larger the value, the more instantaneous braking will happen (with the risk of
/// causing the vehicle to flip if it’s too strong). /// causing the vehicle to flip if it’s too strong).
friction_slip: Real, 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. /// The wheel’s current rotation on its axle.
pub rotation: Real, pub rotation: Real,
delta_rotation: Real, delta_rotation: Real,
@@ -189,6 +196,7 @@ impl Wheel {
skid_info: 0.0, skid_info: 0.0,
side_impulse: 0.0, side_impulse: 0.0,
forward_impulse: 0.0, forward_impulse: 0.0,
side_friction_stiffness: info.side_friction_stiffness,
} }
} }
@@ -260,6 +268,7 @@ impl DynamicRayCastVehicleController {
friction_slip: tuning.friction_slip, friction_slip: tuning.friction_slip,
max_suspension_travel: tuning.max_suspension_travel, max_suspension_travel: tuning.max_suspension_travel,
max_suspension_force: tuning.max_suspension_force, max_suspension_force: tuning.max_suspension_force,
side_friction_stiffness: tuning.side_friction_stiffness,
}; };
let wheel_id = self.wheels.len(); 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) { fn update_friction(&mut self, bodies: &mut RigidBodySet, colliders: &ColliderSet, dt: Real) {
let num_wheels = self.wheels.len(); 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;
} }
} }
} }