Clutch not locked but not slipping??

[NewLife]

Don't let you irritate by the debug output check the code.

Code:

out << "Total torque: " << GetTorque() << "\n";
....
    ///return the sum of all torques acting on the engine (except clutch forces)
    btScalar GetTorque() const
    {
        return combustion_torque + friction_torque;
    }

Total torque reported by debug output is the torque from the engine side not taking clutch into account for whatever reason.

yes you are right NaN.

So to sum up:

Code:

    btScalar total_torque = combustion_torque + friction_torque + clutch_torque;
    shaft.applyMomentum(total_torque * dt);

total_torque is used to accelerate the shaft (that is the engine), (combustion_torque + friction_torque) is just used to apply torque to car body, -clutch_torque is used to accelerate the differential (and the wheels).
Is this right?