Forces on a tire and correct Angular Velocity of a wheel in vehicle simulation !? Hi to all, this is my first post and i just signed up to this forum to eventually get some help on this topic... I am also learning math/physics related to vehicle physics... and i already did some implementation on vehicle based on some papers and other programs available for Unity Engine. I wrote a tire simulation based on Pacejka ( from Brian Beckman's paper ) and i had the vehicle traveling well enough for a time until i started to add more of the torques applied naturally to the tire. This might sound a little noobish but i try learn So i am having problem to understand how you would integrate all the torques/forces applied to the tire and then calculate the angular velocity from all of these torques/forces. 1. What are considered all of the basic torques/forces applied to the tire in order to get it work correctly ? What i am doing now is: adding free rolling based on wheel velocity ( a little confusing while there may be some driving torque also applied, and also saw another implementation that there is no free rolling calculation but it is somehow coming into the simulation ) adding drive torque from engine adding friction torques ( brakes / handbrakes) My problem is that if i change the order of these forces, i get some weird problems like torque from engine is no more applied. 2. So is there a correct order of adding all of the needed forces or they can be added in any way ( for example first engine torque and then brake torques or vice versa etc... ) ? 3. Do you need to zero out the angular velocity in the beginning of the frame or it is continuously integrated over time ? If someone could try explain the idea behind correct way of applying forces and calculate angular velocity would be so great ! Thank You ! https://ift.tt/eA8V8J

Hi to all, this is my first post and i just signed up to this forum to eventually get some help on this topic... I am also learning math/physics related to vehicle physics... and i already did some implementation on vehicle based on some papers and other programs available for Unity Engine. I wrote a tire simulation based on Pacejka ( from Brian Beckman's paper ) and i had the vehicle traveling well enough for a time until i started to add more of the torques applied naturally to the tire. This might sound a little noobish but i try learn So i am having problem to understand how you would integrate all the torques/forces applied to the tire and then calculate the angular velocity from all of these torques/forces. 1. What are considered all of the basic torques/forces applied to the tire in order to get it work correctly ? What i am doing now is: adding free rolling based on wheel velocity ( a little confusing while there may be some driving torque also applied, and also saw another implementation that there is no free rolling calculation but it is somehow coming into the simulation ) adding drive torque from engine adding friction torques ( brakes / handbrakes) My problem is that if i change the order of these forces, i get some weird problems like torque from engine is no more applied. 2. So is there a correct order of adding all of the needed forces or they can be added in any way ( for example first engine torque and then brake torques or vice versa etc... ) ? 3. Do you need to zero out the angular velocity in the beginning of the frame or it is continuously integrated over time ? If someone could try explain the idea behind correct way of applying forces and calculate angular velocity would be so great ! Thank You !

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