Monday, 1 May 2017

The New AngelScript Raycast Vehicle Model

This is a quick note on how to use the Urho3D vehicle model. It's based around the latest git repository, which has AngelScript interfaces for the Bullet Raycast Vehicle. It's written for the state of the Urho3D repo trunk on Apr 29.

The Vehicle Model

The AngelScript object representing the vehicle is RaycastVehicle . This is a wrapper around the underlying Bullet btRaycastVehicle.

To use this we have the basic workflow of:

  • Create a Node for the Vehicle as a child of the Scene, then under this node
    • Create a StaticModel component for the vehicle model
    • Create a RigidBody component for basic physics properties
    • Create a CollisionShape component for the physics engine to handle collisions
    • Create a RaycastVehicle component. This is the new component and we should also
      • Call Init() on this component to set it up
      • Create a node per wheel, and link the wheels to the vehicle
      • Set up the suspension and tyre properties per wheel
      • Call ResetWheels() when set up
At this point we can use the raycastVehicle.SetSteeringValue() and raycastVehicle.SetEngineForce() to set the direction and driving force through the wheels.

The Suspension and Wheel Parameters

We essentially create a node per wheel, then connect the wheels to the vehicle using AddWheel(). There are a handful of basic properties that need setting, both as part of the initial call, and also as additional parameter settings.

The wheel node has a model attached (we can use the cylinder as last time), however in the case of the Raycast vehicle we don't need to provide a collision box or any other information with this model- it's decorative with the vehicle model updating position according to the associated wheel & suspension parameters we supply (for example, if we have scale the wheel model down then the car will simply appear to float above the ground).

The parameters that we need to determine are:

  • Acceleration and Braking
    • Car Mass: Typically in Kg. Applied to the Chassis.
    • Braking Force: Higher values for sharper braking, Supplied to SetBrake().
    • Engine : Higher values for more force. Supplied to SetEngineForce().
  • Suspension Details
    • Suspension Rest Length: Maximum Length of the (unloaded) suspension (in M)
    • Suspension Travel: Maximum Suspension travel (in cm).
    • Suspension Stiffness: Higher values for a stiffer suspension.
    • Suspension Damping during Relaxation: Lower values for longer ringing suspension.
    • Suspension Damping during Compression: Lower values for longer ringing suspension.
  • Wheel Properties
    • Wheel Radius:
    • Wheel Width:
    • Wheel Friction Slip: Tire friction to ground. Limits the maximum impulse pushed through the wheel.
    • Roll Influence: A side impulse to the chassis. High values will cause the car to flip on turning.
Most of these are self explanatory, and are either supplied to the wheel constructor or as separate parameters. Also there's a mix of units and ranges here (so Rest length of 0.3M but the travel limit in cm would be 300 for full travel). We also supply some basic parameters to determine how the wheel is positioned on the car (is it a front wheel, the direction of travel and the axle axis). A simple setup looks something like this:
    raycastVehicle.AddWheel(wheelNode, wheelDirection, wheelAxle, suspensionRestLength, wheelRadius, isFrontWheel);
    raycastVehicle.SetWheelSuspensionStiffness(id, suspensionStiffness);
    raycastVehicle.SetWheelDampingRelaxation(id, suspensionDamping);
    raycastVehicle.SetWheelDampingCompression(id, suspensionCompression);
    raycastVehicle.SetWheelFrictionSlip(id, wheelFriction);
    raycastVehicle.SetWheelRollInfluence(id, rollInfluence);
    raycastVehicle.SetMaxSuspensionTravel(id, suspensionTravel);

Limits

As well as obvious missing features in the model (gearing, upper speed limits, wheel parameters, terrain traction, etc) there's a couple of limitations here - the model does not seem to support sideslip under high speed turning: The tyres either have traction or the car rolls, but nothing in between (but this may be a reflection of the settings we have). The car also needs tweaks to the collision box, and also the speed reading is almost certainly off.

The sideslip we can probably emulate using side forces and playing with tyre friction and checking the speed and turning circle, but that's more complex than this example. Further testing required.

No comments: