Smooth versus wobbly driving of Ackermann example with ODE / Bullet

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streets
Posts: 8
Joined: 18 Dec 2017, 17:25

Smooth versus wobbly driving of Ackermann example with ODE / Bullet

Post by streets » 25 May 2018, 15:53

Hi,

I'm working with the ackermann example that comes with v-rep. If the simulation uses Bullet (no difference for 2.78 or 2.83), the car's wheels become extremely wobbly at higher (not extreme) velocities. When using ODE, everything stays very smooth. Since Bullet is supposed to be the more modern physics simulation I would prefer to use it over ODE. Is there some properties that I could/should change?

Thank you in advance

coppelia
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Posts: 6625
Joined: 14 Dec 2012, 00:25

Re: Smooth versus wobbly driving of Ackermann example with ODE / Bullet

Post by coppelia » 29 May 2018, 06:14

Hello,

I tested following:
  • put the Ackermann steering model into the scene
  • remove the default floor
  • use the floor: Models/infrastructure/floors/infiniteFloor.ttm
  • adjust its size and parameters
  • select the Ackermann vehicle base object, and flag it as renderable
  • run the simulation and accelerate with the arrow keys
With all tested engines, even at high speeds, things remain stable. Can you elaborate how your test environment looks like? Also, remember that physics engines do not like large angular velocities and have difficulties coping with them.

Cheers

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