Suspension gets stuck in upper position

[joevenzon]

Take a look at the function void Vamos_Body::Suspension::find_forces () in src/vamos/body/Suspension.cc

The main bit of code appears to be:

Code:

double anti_roll_force = 0.0;
if (m_anti_roll_suspension)
{
  anti_roll_force = m_anti_roll_k *(m_displacement - m_anti_roll_suspension->m_displacement);
}

// Use `m_bounce' for compression, `m_rebound' for decompression.
double damp = m_bounce;
if (m_compression_velocity < 0.0)
{
  damp = m_rebound;
}

double spring_force = m_spring_constant * m_displacement;
double damp_force = damp * m_compression_velocity;
m_force = rotate_in (m_normal * (spring_force + damp_force + anti_roll_force));

So, it looks like it's the simple linear type. Do you have equations for an improvement?