dongju.jeong Posted February 14, 2019 Posted February 14, 2019 (edited) What role do the figures associated with Tangent and Binormal? I've experimented with change these numbers, but I'm not sure what's different. and for shape of wheel joint, is ok use cylinder? Edited February 14, 2019 by dongju.jeong
thomalex Posted February 14, 2019 Posted February 14, 2019 Hello @dongju.jeong! Quote and for shape of wheel joint, is ok use cylinder? Yes, sure! Here is the modified sample from samples/joints/wheel_00.world. Quote Tangent and Binormal Well, the work of these parameters is evident in dynamics. The Tangent Angle value represents a factor of how much the angular motor of the joint affects the forward and backward movement of the wheel (the longitudinal force). As an example, let's presume a car moving forwards because its wheel joints have the Angular Velocity set to 5.0 rad/sec. If you set it to 0.0, the car will stop as soon as the Tangent Angle is high. Zero value means no influence so the car will continue the movement. The Binormal Angle value determines the same factor regarding to the sideways motion (the lateral force). By using it you can control a steering car. Take a look at the comparison: the car on the left turns as expected, while the right one moves straight forward even with the turned front wheels.Binormal Angle = 1.0 Binormal Angle = 0.0 A similar principle is implemented for the Tangent Friction and Binormal Friction parameters, but they represent the friction force for tires. A tire will slide along the surface if the parameters are set to 0. Thank you! 2
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