For that, we need to remain simple by projecting vectors on each axis. Now, we will write the mathematical formulas for the model. We can see that steer (the steering wheel) is based on a control loop component (LinearCtrl) used to soften the value changes and provide a kind of inertia (the current value will slightly change towards the target one over time). LinearCtrl steer // controller of the wheelĬoord3D rTl, rTr // It
The result would normally conserve physic laws or stay close enough for the purpose of our simulation. Because we will run the new component at high frequency, we won’t have to compute the trajectories with tons of equations but just let the vectors push and pull joints altogether. These variables are modified by equations of motion (entity dynamics) during runtime. In vsTASKER, most of the entities are represented by a 3 dimensional coordinates located at their centre of gravity, a velocity vector plus some attitude values (heading, pitch and roll). This way will give you an idea of the openness of the product and its possibilities as we will not used any canned devices or predefined components. We’ll start with an empty database and end up with a visual demonstrator using OpenSceneGraph and some free models available on Internet. In this presentation, we will learn how to setup vsTASKER to build from scratch a pushback, tow and (multi-carriage) trailer simulator.
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