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vehicle: Use StiffnessAndDamping for spring 

Removes my todo here, and improves vehicles a lot.
This commit is contained in:
Joshua Ashton 2023-08-01 02:22:15 -07:00
parent 457a95fca5
commit 2242614d4a
1 changed files with 5 additions and 11 deletions
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16
vphysics_jolt/vjolt_controller_vehicle.cpp
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@ -420,17 +420,11 @@ void JoltPhysicsVehicleController::CreateWheel( JPH::VehicleConstraintSettings &
wheelSettings->mInertia = 0.5f * axle.wheels.mass * ( wheelSettings->mRadius * wheelSettings->mRadius );
wheelSettings->mSuspensionMinLength = 0;
wheelSettings->mSuspensionMaxLength = additionalLength;
wheelSettings->mSuspensionSpring.mMode = JPH::ESpringMode::FrequencyAndDamping;
// Josh:
// so to go from K (Spring Constant) -> freq we do
// sqrtf( K / Mass ) / ( 2.0f * PI )
// but it seems like it already has mass divided in Source so...
// sqrtf( K ) / ( 2.0f * PI )
// Josh: I don't know why but it looks and feels really wrong without this:
// TODO(Josh): Investigate more later, doesn't make much sense.
// May be related to mass of wheel or something.
wheelSettings->mSuspensionSpring.mFrequency = sqrtf( axle.suspension.springConstant ) / ( 2.0f * M_PI_F ) * M_PI_F;
wheelSettings->mSuspensionSpring.mDamping = axle.suspension.springDamping;
wheelSettings->mSuspensionSpring.mMode = JPH::ESpringMode::StiffnessAndDamping;
// Source has these divided by the mass of the vehicle for some reason.
// Convert these to a stiffness of k, in N/m...
wheelSettings->mSuspensionSpring.mStiffness = axle.suspension.springConstant * m_pCarBodyObject->GetMass();
wheelSettings->mSuspensionSpring.mDamping = axle.suspension.springDamping * m_pCarBodyObject->GetMass();
if ( axle.wheels.frictionScale )
{
wheelSettings->mLateralFriction.AddPoint( 1.0f, axle.wheels.frictionScale );