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### Cs 4621 presentation slides

1. 1. Rigid Body Car Driving Simulation Cooper Findley Chuck Moyes Mark Wang
2. 2. Overall Idea Implement OpenGL 3D car driving simulation in C++ Libraries used: SDL, GLEW, SOLID, SDL_ttf, SDL_image, SDL_mixer, Armadillo Emphasis: Realistic Physics
3. 3. Rigid Body Dynamics Simulation Erleben “Velocity-Based Shock Propagation for Multibody Dynamics Animation” CS 5643: Physically Based Animation for Computer Graphics Euler numerical integration Collision detection, response, tangential Coulomb friction, resting contact Projected Relaxed Gauss-Seidel solver ODEs “Hinge-2” Joint Constraint Other Possibilities: Impulse, Penalty methods for contact  4th Order RK integrator,  Time-Corrected Verlet method
4. 4. Car Physics Model Short, et al. “Simulation of Vehicle Longitudinal Dynamics” Beckman “Physics of Racing Series” Monster “Car Physics for Games” Longitudinal Forces  Engine Force (torque curve as function of RPM)  Resistance Forces: Fluid dynamic air drag (proportional v²), Rolling resistance (C_rr), Brake Forces Lateral Forces  Pacejka tire model (continued)  Slip angle, slip ratio Gear Box Model  Gear ratios, differential ratio  Automatic shifter logic
5. 5. Pacejka Tire ModelLateral Longitudinal
6. 6. Torque Curves (V8 Engine)First gear g1 2.66Second gear g2 1.78 Torque ModelThird gear g3 1.30 y = c + b*x + b*x^2Fourth gear g4 1.0 TMax = 528.7 + 0.152*R − 0.0000217R^2Fifth gear g5 0.74Sixth (!) gear g6 0.50 Brake ModelReverse gR 2.90 T_brake = p*K*min(1, omega/alpha)Differential ratio xd 3.42
7. 7. Automatic Gear Box Shift Map
8. 8. Time-Permitting Work on suspension/weight distribution by modeling mass-spring-dashpot system for each tire Work on advanced wheel-body joint constraints using Jacobian (as seen in ODE) A height-map terrain engine using the ROAM level of detail algorithm for driving over bumpy terrain The use of a special input device such as a Logitech steering wheel controller with force feedback A more advanced force-based model of the car physics as discussed in Beckman’s articles A full-fledged racing game using the simulation engine