Physics & Suspension (#994)

Autodesk · Jun 26, 2024 · 523eebb · 523eebb
2 parents 7f9e87c + 1031d57
commit 523eebb
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Showing 2 changed files with 14 additions and 8 deletions.
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
@@ -30,6 +30,11 @@ const COUNT_OBJECT_LAYERS = 10
 export const SIMULATION_PERIOD = 1.0 / 120.0
 const STANDARD_SUB_STEPS = 3
 
+// Friction constants
+const FLOOR_FRICTION = 0.7;
+const SUSPENSION_MIN_FACTOR = 0.1;
+const SUSPENSION_MAX_FACTOR = 0.3;
+
 /**
  * The PhysicsSystem handles all Jolt Phyiscs interactions within Synthesis.
  * This system can create physical representations of objects such as Robots,
@@ -68,8 +73,10 @@ class PhysicsSystem extends WorldSystem {
             new THREE.Vector3(0.0, -2.0, 0.0),
             undefined
         )
+        ground.SetFriction(FLOOR_FRICTION);
         this._joltBodyInterface.AddBody(ground.GetID(), JOLT.EActivation_Activate)
     }
+
 
     /**
      * TEMPORARY
@@ -449,16 +456,10 @@ class PhysicsSystem extends WorldSystem {
         wheelSettings.mMaxHandBrakeTorque = 0.0
         wheelSettings.mRadius = radius * 1.05
         wheelSettings.mWidth = 0.1
-        wheelSettings.mSuspensionMinLength = 0.0000003
-        wheelSettings.mSuspensionMaxLength = 0.0000006
+        wheelSettings.mSuspensionMinLength = radius * SUSPENSION_MIN_FACTOR
+        wheelSettings.mSuspensionMaxLength = radius * SUSPENSION_MAX_FACTOR
         wheelSettings.mInertia = 1
 
-        const friction = new JOLT.LinearCurve()
-        friction.Clear()
-        friction.AddPoint(1, 1)
-        friction.AddPoint(0, 1)
-        wheelSettings.mLongitudinalFriction = friction
-
         const vehicleSettings = new JOLT.VehicleConstraintSettings()
 
         vehicleSettings.mWheels.clear()

diff --git a/fission/src/systems/simulation/driver/WheelDriver.ts b/fission/src/systems/simulation/driver/WheelDriver.ts
@@ -2,6 +2,9 @@ import Jolt from "@barclah/jolt-physics"
 import Driver from "./Driver"
 import JOLT from "@/util/loading/JoltSyncLoader"
 
+const LATERIAL_FRICTION = 0.6;
+const LONGITUDINAL_FRICTION = 0.8;
+
 class WheelDriver extends Driver {
     private _constraint: Jolt.VehicleConstraint
     private _wheel: Jolt.WheelWV
@@ -22,6 +25,8 @@ class WheelDriver extends Driver {
 
         this._constraint = constraint;
         this._wheel = JOLT.castObject(this._constraint.GetWheel(0), JOLT.WheelWV);
+        this._wheel.set_mCombinedLateralFriction(LATERIAL_FRICTION); 
+        this._wheel.set_mCombinedLongitudinalFriction(LONGITUDINAL_FRICTION);
     }
 
     public Update(_: number): void {