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@@ -31,7 +31,7 @@ public:
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float mInertia = 0.9f; ///< Moment of inertia (kg m^2), for a cylinder this would be 0.5 * M * R^2 which is 0.9 for a wheel with a mass of 20 kg and radius 0.3 m
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float mAngularDamping = 0.2f; ///< Angular damping factor of the wheel: dw/dt = -c * w
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float mMaxSteerAngle = DegreesToRadians(70.0f); ///< How much this wheel can steer (radians)
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- LinearCurve mLongitudinalFriction; ///< Friction in forward direction of tire as a function of the slip ratio (fraction): (omega_wheel * r_wheel - v_longitudinal) / |v_longitudinal|
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+ LinearCurve mLongitudinalFriction; ///< Friction in forward direction of tire as a function of the slip ratio (fraction): (omega_wheel * r_wheel - v_longitudinal) / |v_longitudinal|. You can see slip ratio as the amount the wheel is spinning relative to the floor. 0 means the wheel has full traction and is rolling perfectly in sync with the ground, 1 is for example when the wheel is locked and sliding over the ground.
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LinearCurve mLateralFriction; ///< Friction in sideway direction of tire as a function of the slip angle (degrees): angle between relative contact velocity and vehicle direction
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float mMaxBrakeTorque = 1500.0f; ///< How much torque (Nm) the brakes can apply to this wheel
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float mMaxHandBrakeTorque = 4000.0f; ///< How much torque (Nm) the hand brake can apply to this wheel (usually only applied to the rear wheels)
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Jorrit Rouwe