btVehicleTuning parameter units

Official Python bindings with a focus on reinforcement learning and robotics.
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max1799
Posts: 2
Joined: Mon Jul 11, 2022 10:44 pm

btVehicleTuning parameter units

Post by max1799 »

btRaycastVehicle allows tuning some parameters of the vehicle like the suspension stiffness using the btVehicleTuning class. However it is unclear to me what units these tuning parameters use:

Code: Select all

	class btVehicleTuning
	{
	public:
		btVehicleTuning()
			: m_suspensionStiffness(btScalar(5.88)),
			  m_suspensionCompression(btScalar(0.83)),
			  m_suspensionDamping(btScalar(0.88)),
			  m_maxSuspensionTravelCm(btScalar(500.)),
			  m_frictionSlip(btScalar(10.5)),
			  m_maxSuspensionForce(btScalar(6000.))
		{
		}
		btScalar m_suspensionStiffness;
		btScalar m_suspensionCompression;
		btScalar m_suspensionDamping;
		btScalar m_maxSuspensionTravelCm;
		btScalar m_frictionSlip;
		btScalar m_maxSuspensionForce;
	};
E.g. I expected the suspensions stiffness to be specified in N/m. However this does not appear to be the case. What are the units used for these parameters?
max1799
Posts: 2
Joined: Mon Jul 11, 2022 10:44 pm

Re: btVehicleTuning parameter units

Post by max1799 »

It appears those parameters are weighted by the chassis mass, so e.g. `suspensionStiffness` has the unit `N/chassisMass`.
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