Determining Rigid body wheel slip

[RJNelson68]

I wanted to know if anyone has a method they would share for determining the amount of slippage for rigid bodies used as wheels on a vehicle?

Thank you in advance.

[allsey87]

This seems somewhat straight forward, if you store the angle of the hinge constraint after each time step and multiply it by the radius of the cylinder, you'll have the linear distance that you would expect the wheel to travel with no slip. Secondly look at the transform of the rigid body to see how far the body has actually moved between the two time-steps, after subtracting the btVector3's you'll have a delta vector which tells you the change in position of the rigid body. finally (I think - you'll need to verify this) you must take the dot product of each component of the vector against the orientation of the wheel to find the scalar change in position in the direction of the wheel.

Subtracting these two results will result in the amount of slip.