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bullet dynamics
04-06-2010, 12:49 PM,
 NaN Posting Freak Posts: 2,024 Threads: 120 Joined: Jan 2010

Quote:predict the unconstrained motion
That's what I've been doing too. It works quite well as long as the suspension is not too stiff. But the f1-02 with its ultra stiff suspension is wobbling visibly
Code:
```T Update(T dt, T ext_displacement)     {         // clamp external displacement         overtravel = ext_displacement - travel;         if (overtravel < 0)             overtravel = 0;         if (ext_displacement > travel)             ext_displacement = travel;         else if (ext_displacement < 0)             ext_displacement = 0;         // predict new displacement         T new_displacement = displacement + velocity * dt + 0.5 * force * inv_mass * dt * dt;         // clamp new displacement         if (new_displacement > travel)             new_displacement = travel;         else if (new_displacement < 0)             new_displacement = 0;                  // calculate derivatives         if (new_displacement < ext_displacement)         {             force = GetForce(ext_displacement, velocity);             velocity = (ext_displacement - displacement) / dt;             displacement = ext_displacement;         }         else         {             T new_force = GetForce(new_displacement, velocity);             velocity = velocity + 0.5 * (force + new_force) * inv_mass  * dt;             force = new_force;             displacement = new_displacement;         }         assert(!isnan(velocity));         assert(!isnan(force));         return -force;     }```

Another issue is tire angular oscillation due to bullet vdrift synchronization. That's why the TCS is broken.

To tackle both problems I've decided to switch to btRigidBody for chassis dynamics and to implement the suspension as a hinge constraint. Unfortunately this is somewhat time consuming as I have to rewrite bigger parts of cardynamics.

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