Supporting suspension that is at an angle with the vehicle up direction (#483)

* Improved drawing of wheeled vehicle constraint
* Ability to configure suspension angle in the vehicle constraint test
* Added a race track to the flat world test to get a better idea of car handling

Assets/Racetracks/LICENSE.txt

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
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Assets/Racetracks/README.md

@@ -0,0 +1,3 @@
+Race tracks taken from: https://github.com/TUMFTM/racetrack-database
+
+See LICENSE.txt for license for these race tracks.

Assets/Racetracks/Zandvoort.csv

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Jolt/Physics/Constraints/ConstraintPart/SpringPart.h

@@ -47,7 +47,7 @@ public:
 
 			// Calculate bias factor (baumgarte stabilization):
 			// beta = dt * k / (c + dt * k) = dt * k^2 * softness
-			// b = beta / dt * C = dt * k * softness * C;
+			// b = beta / dt * C = dt * k * softness * C
 			mBias = inBias + inDeltaTime * k * mSoftness * inC;
 			
 			// Update the effective mass, see post by Erin Catto: http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=1354

Jolt/Physics/Vehicle/VehicleConstraint.cpp

@@ -165,9 +165,9 @@ void VehicleConstraint::OnStep(float inDeltaTime, PhysicsSystem &inPhysicsSystem
 		w->mSuspensionLength = settings->mSuspensionMaxLength;
 
 		// Test collision to find the floor
-		RVec3 origin = mBody->GetCenterOfMassPosition() + mBody->GetRotation() * (settings->mPosition - mBody->GetShape()->GetCenterOfMass());
-		w->mWSDirection = mBody->GetRotation() * settings->mDirection;
-		if (mVehicleCollisionTester->Collide(inPhysicsSystem, *this, wheel_index, origin, w->mWSDirection, mBody->GetID(), w->mContactBody, w->mContactSubShapeID, w->mContactPosition, w->mContactNormal, w->mSuspensionLength))
+		RVec3 ws_origin = mBody->GetCenterOfMassPosition() + mBody->GetRotation() * (settings->mPosition - mBody->GetShape()->GetCenterOfMass());
+		Vec3 ws_direction = mBody->GetRotation() * settings->mDirection;
+		if (mVehicleCollisionTester->Collide(inPhysicsSystem, *this, wheel_index, ws_origin, ws_direction, mBody->GetID(), w->mContactBody, w->mContactSubShapeID, w->mContactPosition, w->mContactNormal, w->mSuspensionLength))
 		{
 			// Store ID (pointer is not valid outside of the simulation step)
 			w->mContactBodyID = w->mContactBody->GetID();
@@ -175,6 +175,9 @@ void VehicleConstraint::OnStep(float inDeltaTime, PhysicsSystem &inPhysicsSystem
 			// Store contact velocity, cache this as the contact body may be removed
 			w->mContactPointVelocity = w->mContactBody->GetPointVelocity(w->mContactPosition);
 
+			// Determine plane constant for axle contact plane
+			w->mAxlePlaneConstant = RVec3(w->mContactNormal).Dot(ws_origin + w->mSuspensionLength * ws_direction);
+
 			// Check if body is active, if so the entire vehicle should be active
 			mIsActive |= w->mContactBody->IsActive();
 
@@ -324,19 +327,71 @@ void VehicleConstraint::SetupVelocityConstraint(float inDeltaTime)
 		{
 			const WheelSettings *settings = w->mSettings;
 
+			Vec3 neg_contact_normal = -w->mContactNormal;
+
 			Vec3 r1_plus_u, r2;
 			CalculateWheelContactPoint(*w, r1_plus_u, r2);
 
 			// Suspension spring
 			if (settings->mSuspensionMaxLength > settings->mSuspensionMinLength)
-				w->mSuspensionPart.CalculateConstraintProperties(inDeltaTime, *mBody, r1_plus_u, *w->mContactBody, r2, w->mWSDirection, w->mAntiRollBarImpulse, w->mSuspensionLength - settings->mSuspensionMaxLength - settings->mSuspensionPreloadLength, settings->mSuspensionFrequency, settings->mSuspensionDamping);
+			{
+				// Calculate the damping and frequency of the suspension spring given the angle between the suspension direction and the contact normal
+				// If the angle between the suspension direction and the inverse of the contact normal is alpha then the force on the spring relates to the force along the contact normal as:
+				// 
+				// Fspring = Fnormal * cos(alpha)
+				//
+				// The spring force is:
+				//
+				// Fspring = -k * x
+				//
+				// where k is the spring constant and x is the displacement of the spring. So we have:
+				//
+				// Fnormal * cos(alpha) = -k * x <=> Fnormal = -k / cos(alpha) * x
+				//
+				// So we can see this as a spring with spring constant:
+				//
+				// k' = k / cos(alpha)
+				// 
+				// In the same way the velocity relates like:
+				// 
+				// Vspring = Vnormal * cos(alpha)
+				//
+				// Which results in the modified damping constant c:
+				//
+				// c' = c / cos(alpha)
+				//
+				// Since we're not supplying k and c directly but rather the frequency and damping we can calculate the spring constant and damping constant as:
+				//
+				// w = 2 * pi * f
+				// k = m * w^2
+				// c = 2 * m * w * d
+				//
+				// where m is the mass of the spring, f is the frequency and d is the damping factor (see SpringPart::CalculateSpringProperties). So we have:
+				//
+				// w' = w * pi * f'
+				// k' = m * w'^2
+				// c' = 2 * m * w' * d'
+				//
+				// where f' = f / sqrt(cos(alpha)) and d' = d / sqrt(cos(alpha))
+				//
+				// Note that we clamp 1 / cos(alpha) to the range [0.1, 1] in order not to increase the stiffness / damping by too much.
+				// We also ensure that the frequency doesn't go over half the simulation frequency to prevent the spring from getting unstable.
+				Vec3 ws_direction = body_transform.Multiply3x3(settings->mDirection);
+				float sqrt_cos_angle = sqrt(max(0.1f, ws_direction.Dot(neg_contact_normal)));
+				float damping = settings->mSuspensionDamping / sqrt_cos_angle;
+				float frequency = min(0.5f / inDeltaTime, settings->mSuspensionFrequency / sqrt_cos_angle);
+
+				// Get the value of the constraint equation
+				float c = w->mSuspensionLength - settings->mSuspensionMaxLength - settings->mSuspensionPreloadLength;
+
+				w->mSuspensionPart.CalculateConstraintProperties(inDeltaTime, *mBody, r1_plus_u, *w->mContactBody, r2, neg_contact_normal, w->mAntiRollBarImpulse, c, frequency, damping);
+			}
 			else
 				w->mSuspensionPart.Deactivate();
 
-			// Check if we reached the 'max up' position
-			float max_up_error = w->mSuspensionLength - settings->mSuspensionMinLength;
-			if (max_up_error < 0.0f)
-				w->mSuspensionMaxUpPart.CalculateConstraintProperties(inDeltaTime, *mBody, r1_plus_u, *w->mContactBody, r2, w->mWSDirection, 0.0f, max_up_error);
+			// Check if we reached the 'max up' position and if so add a hard velocity constraint that stops any further movement in the normal direction
+			if (w->mSuspensionLength < settings->mSuspensionMinLength)
+				w->mSuspensionMaxUpPart.CalculateConstraintProperties(inDeltaTime, *mBody, r1_plus_u, *w->mContactBody, r2, neg_contact_normal);
 			else
 				w->mSuspensionMaxUpPart.Deactivate();
 			
@@ -361,8 +416,10 @@ void VehicleConstraint::WarmStartVelocityConstraint(float inWarmStartImpulseRati
 	for (Wheel *w : mWheels)
 		if (w->mContactBody != nullptr)
 		{
-			w->mSuspensionPart.WarmStart(*mBody, *w->mContactBody, w->mWSDirection, inWarmStartImpulseRatio);
-			w->mSuspensionMaxUpPart.WarmStart(*mBody, *w->mContactBody, w->mWSDirection, inWarmStartImpulseRatio);
+			Vec3 neg_contact_normal = -w->mContactNormal;
+
+			w->mSuspensionPart.WarmStart(*mBody, *w->mContactBody, neg_contact_normal, inWarmStartImpulseRatio);
+			w->mSuspensionMaxUpPart.WarmStart(*mBody, *w->mContactBody, neg_contact_normal, inWarmStartImpulseRatio);
 			w->mLongitudinalPart.WarmStart(*mBody, *w->mContactBody, -w->mContactLongitudinal, 0.0f); // Don't warm start the longitudinal part (the engine/brake force, we don't want to preserve anything from the last frame)
 			w->mLateralPart.WarmStart(*mBody, *w->mContactBody, -w->mContactLateral, inWarmStartImpulseRatio);	
 		}
@@ -378,13 +435,15 @@ bool VehicleConstraint::SolveVelocityConstraint(float inDeltaTime)
 	for (Wheel *w : mWheels)
 		if (w->mContactBody != nullptr)
 		{
+			Vec3 neg_contact_normal = -w->mContactNormal;
+
 			// Suspension spring, note that it can only push and not pull
 			if (w->mSuspensionPart.IsActive())
-				impulse |= w->mSuspensionPart.SolveVelocityConstraint(*mBody, *w->mContactBody, w->mWSDirection, 0.0f, FLT_MAX);
+				impulse |= w->mSuspensionPart.SolveVelocityConstraint(*mBody, *w->mContactBody, neg_contact_normal, 0.0f, FLT_MAX);
 
 			// When reaching the minimal suspension length only allow forces pushing the bodies away
 			if (w->mSuspensionMaxUpPart.IsActive())
-				impulse |= w->mSuspensionMaxUpPart.SolveVelocityConstraint(*mBody, *w->mContactBody, w->mWSDirection, 0.0f, FLT_MAX);
+				impulse |= w->mSuspensionMaxUpPart.SolveVelocityConstraint(*mBody, *w->mContactBody, neg_contact_normal, 0.0f, FLT_MAX);
 		}
 
 	// Solve the horizontal movement of the vehicle
@@ -408,22 +467,24 @@ bool VehicleConstraint::SolvePositionConstraint(float inDeltaTime, float inBaumg
 		{
 			const WheelSettings *settings = w->mSettings;
 
-			// Calculate new contact length as the body may have moved
-			// TODO: This assumes that only the vehicle moved and not the ground (contact point/normal is stored in world space)
+			// Check if we reached the 'max up' position now that the body has possibly moved
+			// We do this by calculating the axle position at minimum suspension length and making sure it does not go through the
+			// plane defined by the contact normal and the axle position when the contact happened
+			// TODO: This assumes that only the vehicle moved and not the ground as we kept the axle contact plane in world space
 			Vec3 ws_direction = body_transform.Multiply3x3(settings->mDirection);
 			RVec3 ws_position = body_transform * settings->mPosition;
-			float contact_length = Vec3(w->mContactPosition - ws_position).Dot(ws_direction);
-
-			// Check if we reached the 'max up' position
-			float max_up_error = contact_length - settings->mRadius - settings->mSuspensionMinLength;
+			RVec3 min_suspension_pos = ws_position + settings->mSuspensionMinLength * ws_direction;
+			float max_up_error = float(RVec3(w->mContactNormal).Dot(min_suspension_pos) - w->mAxlePlaneConstant);
 			if (max_up_error < 0.0f)
 			{
+				Vec3 neg_contact_normal = -w->mContactNormal;
+
 				// Recalculate constraint properties since the body may have moved
 				Vec3 r1_plus_u, r2;
 				CalculateWheelContactPoint(*w, r1_plus_u, r2);
-				w->mSuspensionMaxUpPart.CalculateConstraintProperties(inDeltaTime, *mBody, r1_plus_u, *w->mContactBody, r2, ws_direction, 0.0f, max_up_error);
+				w->mSuspensionMaxUpPart.CalculateConstraintProperties(inDeltaTime, *mBody, r1_plus_u, *w->mContactBody, r2, neg_contact_normal, 0.0f, max_up_error);
 
-				impulse |= w->mSuspensionMaxUpPart.SolvePositionConstraint(*mBody, *w->mContactBody, ws_direction, max_up_error, inBaumgarte);
+				impulse |= w->mSuspensionMaxUpPart.SolvePositionConstraint(*mBody, *w->mContactBody, neg_contact_normal, max_up_error, inBaumgarte);
 			}
 		}
 

Jolt/Physics/Vehicle/Wheel.h

@@ -126,14 +126,14 @@ protected:
 	Vec3					mContactNormal;								///< Normal of the contact point between wheel and ground
 	Vec3					mContactLongitudinal;						///< Vector perpendicular to normal in the forward direction
 	Vec3					mContactLateral;							///< Vector perpendicular to normal and longitudinal direction in the right direction
-	Vec3					mWSDirection;								///< Suspension spring direction in world space
+	Real					mAxlePlaneConstant;							///< Constant for the contact plane of the axle, defined as ContactNormal . (WorldSpaceSuspensionPoint + SuspensionLength * WorldSpaceSuspensionDirection)
 	float					mAntiRollBarImpulse = 0.0f;					///< Amount of impulse applied to the suspension from the anti-rollbars
 
 	float					mSteerAngle = 0.0f;							///< Rotation around the suspension direction, positive is to the left
 	float					mAngularVelocity = 0.0f;					///< Rotation speed of wheel, positive when the wheels cause the vehicle to move forwards (rad/s)
 	float					mAngle = 0.0f;								///< Current rotation of the wheel (rad, [0, 2 pi])
 
-	AxisConstraintPart		mSuspensionPart;							///< Controls movement up/down
+	AxisConstraintPart		mSuspensionPart;							///< Controls movement up/down along the contact normal
 	AxisConstraintPart		mSuspensionMaxUpPart;						///< Adds a hard limit when reaching the minimal suspension length
 	AxisConstraintPart		mLongitudinalPart;							///< Controls movement forward/backward
 	AxisConstraintPart		mLateralPart;								///< Controls movement sideways (slip)

Jolt/Physics/Vehicle/WheeledVehicleController.cpp

@@ -638,6 +638,8 @@ bool WheeledVehicleController::SolveLongitudinalAndLateralConstraints(float inDe
 
 void WheeledVehicleController::Draw(DebugRenderer *inRenderer) const 
 {
+	float constraint_size = mConstraint.GetDrawConstraintSize();
+
 	// Draw RPM
 	Body *body = mConstraint.GetVehicleBody();
 	Vec3 rpm_meter_up = body->GetRotation() * mConstraint.GetLocalUp();
@@ -650,7 +652,7 @@ void WheeledVehicleController::Draw(DebugRenderer *inRenderer) const
 								 "Gear: %d, Clutch: %.1f\nEngineRPM: %.0f, V: %.1f km/h", 
 								 (double)mForwardInput, (double)mRightInput, (double)mBrakeInput, (double)mHandBrakeInput, 
 								 mTransmission.GetCurrentGear(), (double)mTransmission.GetClutchFriction(), (double)mEngine.GetCurrentRPM(), (double)body->GetLinearVelocity().Length() * 3.6);
-	inRenderer->DrawText3D(body->GetPosition(), status, Color::sWhite, mConstraint.GetDrawConstraintSize());
+	inRenderer->DrawText3D(body->GetPosition(), status, Color::sWhite, constraint_size);
 
 	for (const Wheel *w_base : mConstraint.GetWheels())
 	{
@@ -659,24 +661,31 @@ void WheeledVehicleController::Draw(DebugRenderer *inRenderer) const
 
 		// Calculate where the suspension attaches to the body in world space
 		RVec3 ws_position = body->GetCenterOfMassPosition() + body->GetRotation() * (settings->mPosition - body->GetShape()->GetCenterOfMass());
+		Vec3 ws_direction = body->GetRotation() * settings->mDirection;
+
+		// Draw suspension
+		RVec3 min_suspension_pos = ws_position + ws_direction * settings->mSuspensionMinLength;
+		RVec3 max_suspension_pos = ws_position + ws_direction * settings->mSuspensionMaxLength;
+		inRenderer->DrawLine(ws_position, min_suspension_pos, Color::sRed);
+		inRenderer->DrawLine(min_suspension_pos, max_suspension_pos, Color::sGreen);
+
+		// Draw current length
+		RVec3 cur_suspension_pos = ws_position + ws_direction * w->GetSuspensionLength();
+		inRenderer->DrawMarker(cur_suspension_pos, w->GetSuspensionLength() < settings->mSuspensionMinLength? Color::sRed : Color::sGreen, constraint_size);
 
 		if (w->HasContact())
 		{
 			// Draw contact
-			inRenderer->DrawLine(ws_position, w->GetContactPosition(), w->HasHitHardPoint()? Color::sRed : Color::sGreen); // Red if we hit the 'max up' limit
 			inRenderer->DrawLine(w->GetContactPosition(), w->GetContactPosition() + w->GetContactNormal(), Color::sYellow);
 			inRenderer->DrawLine(w->GetContactPosition(), w->GetContactPosition() + w->GetContactLongitudinal(), Color::sRed);
 			inRenderer->DrawLine(w->GetContactPosition(), w->GetContactPosition() + w->GetContactLateral(), Color::sBlue);
 
-			DebugRenderer::sInstance->DrawText3D(w->GetContactPosition(), StringFormat("W: %.1f, S: %.2f\nSlip: %.2f, FrLateral: %.1f, FrLong: %.1f", (double)w->GetAngularVelocity(), (double)w->GetSuspensionLength(), (double)w->mLongitudinalSlip, (double)w->mCombinedLateralFriction, (double)w->mCombinedLongitudinalFriction), Color::sWhite, 0.1f);
+			DebugRenderer::sInstance->DrawText3D(cur_suspension_pos, StringFormat("W: %.1f, S: %.2f\nSlip: %.2f, FrLateral: %.1f, FrLong: %.1f", (double)w->GetAngularVelocity(), (double)w->GetSuspensionLength(), (double)w->mLongitudinalSlip, (double)w->mCombinedLateralFriction, (double)w->mCombinedLongitudinalFriction), Color::sWhite, constraint_size);
 		}
 		else
 		{
 			// Draw 'no hit'
-			Vec3 max_droop = body->GetRotation() * settings->mDirection * (settings->mSuspensionMaxLength + settings->mRadius);
-			inRenderer->DrawLine(ws_position, ws_position + max_droop, Color::sYellow);
-
-			DebugRenderer::sInstance->DrawText3D(ws_position + max_droop, StringFormat("W: %.1f", (double)w->GetAngularVelocity()), Color::sRed, 0.1f);
+			DebugRenderer::sInstance->DrawText3D(cur_suspension_pos, StringFormat("W: %.1f", (double)w->GetAngularVelocity()), Color::sRed, constraint_size);
 		}
 	}
 }

Samples/Tests/Vehicle/TankTest.cpp

@@ -164,6 +164,8 @@ void TankTest::Initialize()
 
 void TankTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
 {
+	VehicleTest::PrePhysicsUpdate(inParams);
+
 	const float min_velocity_pivot_turn = 1.0f;
 
 	const float bullet_radius = 0.061f; // 120 mm

Samples/Tests/Vehicle/VehicleConstraintTest.cpp

@@ -32,9 +32,6 @@ void VehicleConstraintTest::Initialize()
 	const float half_vehicle_length = 2.0f;
 	const float half_vehicle_width = 0.9f;
 	const float half_vehicle_height = 0.2f;
-	const float suspension_min_length = 0.3f;
-	const float suspension_max_length = 0.5f;
-	const float max_steering_angle = DegreesToRadians(30);
 
 	// Create collision testers
 	mTesters[0] = new VehicleCollisionTesterRay(Layers::MOVING);
@@ -44,7 +41,7 @@ void VehicleConstraintTest::Initialize()
 	// Create vehicle body
 	RVec3 position(0, 2, 0);
 	RefConst<Shape> car_shape = OffsetCenterOfMassShapeSettings(Vec3(0, -half_vehicle_height, 0), new BoxShape(Vec3(half_vehicle_width, half_vehicle_height, half_vehicle_length))).Create().Get();
-	BodyCreationSettings car_body_settings(car_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
+	BodyCreationSettings car_body_settings(car_shape, position, Quat::sRotation(Vec3::sAxisZ(), sInitialRollAngle), EMotionType::Dynamic, Layers::MOVING);
 	car_body_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
 	car_body_settings.mMassPropertiesOverride.mMass = 1500.0f;
 	mCarBody = mBodyInterface->CreateBody(car_body_settings);
@@ -53,25 +50,49 @@ void VehicleConstraintTest::Initialize()
 	// Create vehicle constraint
 	VehicleConstraintSettings vehicle;
 	vehicle.mDrawConstraintSize = 0.1f;
-	vehicle.mMaxPitchRollAngle = DegreesToRadians(60.0f);
+	vehicle.mMaxPitchRollAngle = sMaxRollAngle;
+
+	// Suspension direction
+	Vec3 front_dir = Vec3(Tan(sFrontSuspensionKinPinAngle), -1, Tan(sFrontSuspensionCasterAngle)).Normalized();
+	Vec3 rear_dir = Vec3(Tan(sRearSuspensionKingPinAngle), -1, Tan(sRearSuspensionCasterAngle)).Normalized();
 
 	// Wheels
 	WheelSettingsWV *w1 = new WheelSettingsWV;
 	w1->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius);
-	w1->mMaxSteerAngle = max_steering_angle;
+	w1->mDirection = front_dir;
+	w1->mSuspensionMinLength = sFrontSuspensionMinLength;
+	w1->mSuspensionMaxLength = sFrontSuspensionMaxLength;
+	w1->mSuspensionFrequency = sFrontSuspensionFrequency;
+	w1->mSuspensionDamping = sFrontSuspensionDamping;
+	w1->mMaxSteerAngle = sMaxSteeringAngle;
 	w1->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
 
 	WheelSettingsWV *w2 = new WheelSettingsWV;
 	w2->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius);
-	w2->mMaxSteerAngle = max_steering_angle;
+	w2->mDirection = Vec3(-1, 1, 1) * front_dir;
+	w2->mSuspensionMinLength = sFrontSuspensionMinLength;
+	w2->mSuspensionMaxLength = sFrontSuspensionMaxLength;
+	w2->mSuspensionFrequency = sFrontSuspensionFrequency;
+	w2->mSuspensionDamping = sFrontSuspensionDamping;
+	w2->mMaxSteerAngle = sMaxSteeringAngle;
 	w2->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
 
 	WheelSettingsWV *w3 = new WheelSettingsWV;
 	w3->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius);
+	w3->mDirection = rear_dir;
+	w3->mSuspensionMinLength = sRearSuspensionMinLength;
+	w3->mSuspensionMaxLength = sRearSuspensionMaxLength;
+	w3->mSuspensionFrequency = sRearSuspensionFrequency;
+	w3->mSuspensionDamping = sRearSuspensionDamping;
 	w3->mMaxSteerAngle = 0.0f;
 
 	WheelSettingsWV *w4 = new WheelSettingsWV;
 	w4->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius);
+	w4->mDirection = Vec3(-1, 1, 1) * rear_dir;
+	w4->mSuspensionMinLength = sRearSuspensionMinLength;
+	w4->mSuspensionMaxLength = sRearSuspensionMaxLength;
+	w4->mSuspensionFrequency = sRearSuspensionFrequency;
+	w4->mSuspensionDamping = sRearSuspensionDamping;
 	w4->mMaxSteerAngle = 0.0f;
 
 	vehicle.mWheels = { w1, w2, w3, w4 };
@@ -80,8 +101,6 @@ void VehicleConstraintTest::Initialize()
 	{
 		w->mRadius = wheel_radius;
 		w->mWidth = wheel_width;
-		w->mSuspensionMinLength = suspension_min_length;
-		w->mSuspensionMaxLength = suspension_max_length;
 	}
 
 	WheeledVehicleControllerSettings *controller = new WheeledVehicleControllerSettings;
@@ -117,6 +136,8 @@ void VehicleConstraintTest::Initialize()
 
 void VehicleConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
 {
+	VehicleTest::PrePhysicsUpdate(inParams);
+
 	// Determine acceleration and brake
 	float forward = 0.0f, right = 0.0f, brake = 0.0f, hand_brake = 0.0f;
 	if (inParams.mKeyboard->IsKeyPressed(DIK_UP))
@@ -213,10 +234,26 @@ void VehicleConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMe
 {
 	VehicleTest::CreateSettingsMenu(inUI, inSubMenu);
 
+	inUI->CreateSlider(inSubMenu, "Initial Roll Angle", RadiansToDegrees(sInitialRollAngle), 0.0f, 90.0f, 0.1f, [](float inValue) { sInitialRollAngle = DegreesToRadians(inValue); });
+	inUI->CreateSlider(inSubMenu, "Max Roll Angle", RadiansToDegrees(sMaxRollAngle), 0.0f, 90.0f, 0.1f, [](float inValue) { sMaxRollAngle = DegreesToRadians(inValue); });
+	inUI->CreateSlider(inSubMenu, "Max Steering Angle", RadiansToDegrees(sMaxSteeringAngle), 0.0f, 90.0f, 0.1f, [](float inValue) { sMaxSteeringAngle = DegreesToRadians(inValue); });
 	inUI->CreateComboBox(inSubMenu, "Collision Mode", { "Ray", "Cast Sphere", "Cast Cylinder" }, sCollisionMode, [](int inItem) { sCollisionMode = inItem; });
-	inUI->CreateCheckBox(inSubMenu, "4 Wheel Drive", sFourWheelDrive, [this](UICheckBox::EState inState) { sFourWheelDrive = inState == UICheckBox::STATE_CHECKED; RestartTest(); });
-	inUI->CreateCheckBox(inSubMenu, "Anti Rollbars", sAntiRollbar, [this](UICheckBox::EState inState) { sAntiRollbar = inState == UICheckBox::STATE_CHECKED; RestartTest(); });
+	inUI->CreateCheckBox(inSubMenu, "4 Wheel Drive", sFourWheelDrive, [](UICheckBox::EState inState) { sFourWheelDrive = inState == UICheckBox::STATE_CHECKED; });
+	inUI->CreateCheckBox(inSubMenu, "Anti Rollbars", sAntiRollbar, [](UICheckBox::EState inState) { sAntiRollbar = inState == UICheckBox::STATE_CHECKED; });
 	inUI->CreateCheckBox(inSubMenu, "Limited Slip Differentials", sLimitedSlipDifferentials, [](UICheckBox::EState inState) { sLimitedSlipDifferentials = inState == UICheckBox::STATE_CHECKED; });
 	inUI->CreateSlider(inSubMenu, "Max Engine Torque", float(sMaxEngineTorque), 100.0f, 2000.0f, 10.0f, [](float inValue) { sMaxEngineTorque = inValue; });
 	inUI->CreateSlider(inSubMenu, "Clutch Strength", float(sClutchStrength), 1.0f, 40.0f, 1.0f, [](float inValue) { sClutchStrength = inValue; });
+	inUI->CreateSlider(inSubMenu, "Front Suspension Caster Angle", RadiansToDegrees(sFrontSuspensionCasterAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontSuspensionCasterAngle = DegreesToRadians(inValue); });
+	inUI->CreateSlider(inSubMenu, "Front Suspension King Pin Angle", RadiansToDegrees(sFrontSuspensionKinPinAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontSuspensionKinPinAngle = DegreesToRadians(inValue); });
+	inUI->CreateSlider(inSubMenu, "Front Suspension Min Length", sFrontSuspensionMinLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sFrontSuspensionMinLength = inValue; });
+	inUI->CreateSlider(inSubMenu, "Front Suspension Max Length", sFrontSuspensionMaxLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sFrontSuspensionMaxLength = inValue; });
+	inUI->CreateSlider(inSubMenu, "Front Suspension Frequency", sFrontSuspensionFrequency, 0.1f, 5.0f, 0.01f, [](float inValue) { sFrontSuspensionFrequency = inValue; });
+	inUI->CreateSlider(inSubMenu, "Front Suspension Damping", sFrontSuspensionDamping, 0.0f, 2.0f, 0.01f, [](float inValue) { sFrontSuspensionDamping = inValue; });
+	inUI->CreateSlider(inSubMenu, "Rear Suspension Caster Angle", RadiansToDegrees(sRearSuspensionCasterAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearSuspensionCasterAngle = DegreesToRadians(inValue); });
+	inUI->CreateSlider(inSubMenu, "Rear Suspension King Pin Angle", RadiansToDegrees(sRearSuspensionKingPinAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearSuspensionKingPinAngle = DegreesToRadians(inValue); });
+	inUI->CreateSlider(inSubMenu, "Rear Suspension Min Length", sRearSuspensionMinLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sRearSuspensionMinLength = inValue; });
+	inUI->CreateSlider(inSubMenu, "Rear Suspension Max Length", sRearSuspensionMaxLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sRearSuspensionMaxLength = inValue; });
+	inUI->CreateSlider(inSubMenu, "Rear Suspension Frequency", sRearSuspensionFrequency, 0.1f, 5.0f, 0.01f, [](float inValue) { sRearSuspensionFrequency = inValue; });
+	inUI->CreateSlider(inSubMenu, "Rear Suspension Damping", sRearSuspensionDamping, 0.0f, 2.0f, 0.01f, [](float inValue) { sRearSuspensionDamping = inValue; });
+	inUI->CreateTextButton(inSubMenu, "Accept", [this]() { RestartTest(); });
 }

Samples/Tests/Vehicle/VehicleConstraintTest.h

@@ -26,12 +26,27 @@ public:
 	virtual void				CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu) override;
 
 private:
+	static inline float			sInitialRollAngle = 0;
+	static inline float			sMaxRollAngle = DegreesToRadians(60.0f);
+	static inline float			sMaxSteeringAngle = DegreesToRadians(30.0f);
 	static inline int			sCollisionMode = 2;
 	static inline bool			sFourWheelDrive = false;
 	static inline bool			sAntiRollbar = true;
 	static inline bool			sLimitedSlipDifferentials = true;
 	static inline float			sMaxEngineTorque = 500.0f;
 	static inline float			sClutchStrength = 10.0f;
+	static inline float			sFrontSuspensionCasterAngle = 0.0f;
+	static inline float 		sFrontSuspensionKinPinAngle = 0.0f;
+	static inline float			sFrontSuspensionMinLength = 0.3f;
+	static inline float			sFrontSuspensionMaxLength = 0.5f;
+	static inline float			sFrontSuspensionFrequency = 1.5f;
+	static inline float			sFrontSuspensionDamping = 0.5f;
+	static inline float 		sRearSuspensionCasterAngle = 0.0f;
+	static inline float 		sRearSuspensionKingPinAngle = 0.0f;
+	static inline float			sRearSuspensionMinLength = 0.3f;
+	static inline float			sRearSuspensionMaxLength = 0.5f;
+	static inline float			sRearSuspensionFrequency = 1.5f;
+	static inline float			sRearSuspensionDamping = 0.5f;
 
 	Body *						mCarBody;									///< The vehicle
 	Ref<VehicleConstraint>		mVehicleConstraint;							///< The vehicle constraint

Samples/Tests/Vehicle/VehicleSixDOFTest.cpp

@@ -120,6 +120,8 @@ void VehicleSixDOFTest::Initialize()
 
 void VehicleSixDOFTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
 {
+	VehicleTest::PrePhysicsUpdate(inParams);
+
 	const float max_rotation_speed = 10.0f * JPH_PI;
 
 	// Determine steering and speed

Samples/Tests/Vehicle/VehicleTest.cpp

@@ -15,6 +15,7 @@
 #include <Layers.h>
 #include <Application/DebugUI.h>
 #include <Utils/Log.h>
+#include <Renderer/DebugRendererImp.h>
 
 JPH_IMPLEMENT_RTTI_VIRTUAL(VehicleTest) 
 { 
@@ -39,6 +40,9 @@ void VehicleTest::Initialize()
 		Body &floor = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3(1000.0f, 1.0f, 1000.0f), 0.0f), RVec3(0.0f, -1.0f, 0.0f), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
 		floor.SetFriction(1.0f);
 		mBodyInterface->AddBody(floor.GetID(), EActivation::DontActivate);
+
+		// Load a race track to have something to assess speed and steering behavior
+		LoadRaceTrack("Assets/Racetracks/Zandvoort.csv");
 	}
 	else if (strcmp(sSceneName, "Steep Slope") == 0)
 	{
@@ -157,6 +161,73 @@ void VehicleTest::CreateRubble()
 		}
 }
 
+void VehicleTest::LoadRaceTrack(const char *inFileName)
+{
+	// Open the track file
+	std::ifstream stream;
+	stream.open(inFileName, std::ifstream::in);
+	if (!stream.is_open()) 
+		return;
+
+	// Ignore header line
+	String line;
+	std::getline(stream, line);
+
+	// Read coordinates
+	struct Segment
+	{
+		RVec3				mCenter;
+		float				mWidthLeft;
+		float				mWidthRight;
+	};
+	Array<Segment> segments;
+	Real x, y;
+	float wl, wr;
+	char c;
+	RVec3 track_center = RVec3::sZero();
+	while (stream >> x >> c >> y >> c >> wl >> c >> wr)
+	{
+		RVec3 center(x, 0, y);
+		segments.push_back({ center, wl, wr });
+		track_center += center;
+	}
+	if (!segments.empty())
+		track_center /= (float)segments.size();
+
+	// Convert to line segments
+	RVec3 prev_tleft = RVec3::sZero(), prev_tright = RVec3::sZero();
+	for (size_t i = 0; i < segments.size(); ++i)
+	{
+		const Segment &segment = segments[i];
+		const Segment &next_segment = segments[(i + 1) % segments.size()];
+
+		// Calculate left and right point of the track
+		Vec3 fwd = Vec3(next_segment.mCenter - segment.mCenter);
+		Vec3 right = fwd.Cross(Vec3::sAxisY()).Normalized();
+		RVec3 tcenter = segment.mCenter - track_center + Vec3(0, 0.1f, 0); // Put a bit above the floor to avoid z fighting
+		RVec3 tleft = tcenter - right * segment.mWidthLeft;
+		RVec3 tright = tcenter + right * segment.mWidthRight;
+		mTrackData.push_back({ tleft, tright });
+
+		// Connect left and right point with the previous left and right point
+		if (i > 0)
+		{
+			mTrackData.push_back({ prev_tleft, tleft });
+			mTrackData.push_back({ prev_tright, tright });
+		}
+
+		prev_tleft = tleft;
+		prev_tright = tright;
+	}
+}
+
+void VehicleTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
+{
+	// Render the track
+	for (const Line &l : mTrackData)
+		mDebugRenderer->DrawLine(l.mStart, l.mEnd, Color::sBlack);
+}
+
 void VehicleTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
 {
 	inUI->CreateTextButton(inSubMenu, "Select Scene", [this, inUI]() { 

Samples/Tests/Vehicle/VehicleTest.h

@@ -13,6 +13,7 @@ public:
 	JPH_DECLARE_RTTI_VIRTUAL(VehicleTest)
 
 	// See: Test
+	virtual void			PrePhysicsUpdate(const PreUpdateParams &inParams) override;
 	virtual void			Initialize() override;
  
 	// Optional settings menu
@@ -29,4 +30,13 @@ private:
 	void					CreateBridge();
 	void					CreateWall();
 	void					CreateRubble();
+	void					LoadRaceTrack(const char *inFileName);
+
+	// A set of line segments to render a race track
+	struct Line
+	{
+		RVec3				mStart;
+		RVec3				mEnd;
+	};
+	Array<Line>				mTrackData;
 };