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vehicle: Implement per-wheel brake torque 

Based upon the same calculations that regular VPhysics does, calculate the per-wheel brake torque.

Improves vehicle feel and matches it more closely.
This commit is contained in:
Joshua Ashton 2022-08-29 07:33:43 +01:00
parent 11adbb57bd
commit 85d72c255b
2 changed files with 16 additions and 0 deletions
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15
vphysics_jolt/vjolt_controller_vehicle.cpp
View File

@ -403,6 +403,9 @@ void JoltPhysicsVehicleController::CreateWheel( JPH::VehicleConstraintSettings &
const float steeringAngle = DEG2RAD( Max( m_VehicleParams.steering.degreesSlow, m_VehicleParams.steering.degreesFast ) );
const float additionalLength = SourceToJolt::Distance( axle.wheels.springAdditionalLength );
Vector gravity;
m_pEnvironment->GetGravity( &gravity );
JPH::WheelSettingsWV *wheelSettings = new JPH::WheelSettingsWV;
wheelSettings->mPosition = SourceToJolt::Distance( wheelPositionLocal );
wheelSettings->mDirection = JPH::Vec3( 0, 0, -1 );
@ -431,6 +434,14 @@ void JoltPhysicsVehicleController::CreateWheel( JPH::VehicleConstraintSettings &
wheelSettings->mLongitudinalFriction.AddPoint( 1.0f, axle.wheels.frictionScale );
}
// TODO: We may want to update this every pre-simulation to account for changing gravity.
wheelSettings->mMaxBrakeTorque =
0.5f *
SourceToJolt::Distance( gravity.Length() ) *
( m_pCarBodyObject->GetMass() + m_TotalWheelMass ) *
axle.brakeFactor *
SourceToJolt::Distance( axle.wheels.radius );
vehicleSettings.mWheels.push_back( wheelSettings );
m_InternalState.LargestWheelRadius = Max( m_InternalState.LargestWheelRadius, SourceToJolt::Distance( wheelWidth ) );
}
@ -442,6 +453,10 @@ void JoltPhysicsVehicleController::CreateWheels( JPH::VehicleConstraintSettings
m_Wheels.reserve( m_VehicleParams.axleCount * m_VehicleParams.wheelsPerAxle );
vehicleSettings.mAntiRollBars.reserve( m_VehicleParams.axleCount );
m_TotalWheelMass = 0.0f;
for ( int axle = 0; axle < m_VehicleParams.axleCount; axle++ )
m_TotalWheelMass += m_VehicleParams.axles[ axle ].wheels.mass * m_VehicleParams.wheelsPerAxle;
for ( int axle = 0; axle < m_VehicleParams.axleCount; axle++ )
{
for ( int wheel = 0; wheel < m_VehicleParams.wheelsPerAxle; wheel++ )

1
vphysics_jolt/vjolt_controller_vehicle.h
View File

@ -83,6 +83,7 @@ private:
std::vector< JoltPhysicsWheel > m_Wheels;
float m_TotalWheelMass = 0.0f;
JoltPhysicsInternalVehicleState m_InternalState;
JPH::Ref< JPH::VehicleConstraint > m_VehicleConstraint;