Version 11 (modified by necro, 6 years ago) (diff) |
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## 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