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Code question for CARDYNAMICS::ApplyWheelForces

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Code question for CARDYNAMICS::ApplyWheelForces
07-31-2011, 08:11 AM,
#1
LBodnar Offline
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Code question for CARDYNAMICS::ApplyWheelForces
Code:
    //calculate brake torque
    btScalar wheel_brake_torque = (0 - wheel[i].GetAngularVelocity()) / dt * wheel[i].GetInertia() - wheel_drive_torque + tire_friction_torque;
    if (wheel_brake_torque > 0 && wheel_brake_torque > brake[i].GetTorque())
    {
        wheel_brake_torque = brake[i].GetTorque();
    }
...

What does AngularVelocity / dt * Inertia term represent?

Consider half-braked wheel at constant high speed. In such condition brake force should equal friction force. But Velocity / dt * Inertia will be non-zero, increase with speed and depend on iteration time step. Why is it there?
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Messages In This Thread
Code question for CARDYNAMICS::ApplyWheelForces - by LBodnar - 07-31-2011, 08:11 AM
[No subject] - by NaN - 07-31-2011, 09:25 AM
[No subject] - by LBodnar - 07-31-2011, 09:31 AM
[No subject] - by NaN - 07-31-2011, 09:37 AM

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