## vehicle_params structure

Vehicle parameters are returned in the `init_chassis()` method.

### General parameters

property | description | defaults |
---|---|---|

mass | vehicle mass [kg] | 1000 kg |

com | center of mass displacement [float3,m] displacement in model space, for example com:{z:0.6} shifts the center 0.6m up from the model pivot | {x:0,y:0,z:0} (model pivot) |

steering | wheel steering speed when using keyboard [half range per sec] | default: 1.2 |

steering_ecf | speed [km/h] at which the steering angle is reduced by 60% | default: 50 |

centering | wheel centering speed when using keyboard [half range per sec] | default: 0.9 |

centering_ecf | speed [km/h] when the centering acts at 60% already | default: 40 |

Effective steering angle is reduced with vehicle speed by exp(-kmh/steering_threshold). Wheel auto-centering speed depends on the vehicle speed by 1-exp(-kmh/centering_threshold), e.g with higher speed the wheel centers faster.

### Watercraft parameters

Used for boats/ships and amphibious vehicles only.

property | description | defaults |
---|---|---|

Cx | drag coefficients http://en.wikipedia.org/wiki/Drag_coefficient in model-space dimensions x: sidewise drag coefficient y: forward drag coefficient z: vertical drag coefficient w:relative angular coefficient (adjusts the computed angular damping) | x:1.2, y:0.1, z:1.2, w:0.9 (boats) x:1.2, y:0.4, z:1.2, w:0.9 (vehicles) |

hydro_offset | vertical offset above the center of mass forward axis, where the hydrostatic force is applied (stabilizing effect) | 1.0 m |

hydro_uplift | front-lifting force proportional to the current speed and draft | 0.0 N per m/s (when submerged up to h1) |

hydro_w | width of the volume | width of model bounding box |

hydro_l | length of the volume | length of model bounding box |

hydro_h1 | height of the skewed part | 0.0 m |

hydro_h2 | total height of the volume | height of model bounding box |

hydro_volcoef | closed volume coefficient (0..1) Tells how much of the volume contributes to the buoyancy | 1.0 if hydro_h2 was specified 0.0 otherwise |

Note: if hydro_volcoef is not specified or is 0.0, the hydrostatic forces are not computed, but the speed loss from drag still is.

See vehicle

Last modified 20 months ago
Last modified on Jul 16, 2016, 7:30:59 AM