I'm working on a simulation as part of a robotics simulations package using Blender and Bullet. I want to simulate a differential drive robot using the raycast vehicle abilities in Bullet. I have a vehicle set up and running where I am setting engine force differently on the two sides to control velocity and turn rate.
I have seen the vehicle slide sideways when friction is low enough, but can a raycast vehicle also simulate longitudinal wheel slip? Basically I would like to see the wheels spin (and be able to measure their velocity separate from the vehicle body) when the vehicle is first starting or turning in place. Is this possible? I've seen the m_suspensionRelativeVelocity value in the wheel information structure, but I'm not sure exactly what it's giving you.
Thanks,
David