Whenever the wheels on my shopping cart get a lot of force applied on them they look weird like this: Here's how I've got it set up: Code: "pressureWheels": [ ["name","hubGroup","group","node1:","node2:","nodeS","nodeArm:","wheelDir"], {"disableMeshBreaking":false,"disableHubMeshBreaking":false}, //general settings {"hubRadius":0.065}, {"hubWidth":0.03}, {"numRays":8}, {"hasTire":false}, //hub options {"hubBeamSpring":201000, "hubBeamDamp":3} {"hubBeamDeform":"FLT_MAX", "hubBeamStrength":"FLT_MAX"}, {"hubNodeWeight":0.15}, {"hubNodeMaterial":"|NM_PLASTIC"}, {"hubFrictionCoef":0.28}, //Left wheel {"propulsed":0}, {"brakeTorque":0}, {"parkingTorque":0}, {"wheelOffset":0.004}, {"selfCollision":false} {"collision":true} ["FL", "wheelFL_g", "", "c4", "c5", 9999, "b12", 1, {"speedo":false}] {"propulsed":0}, {"hasTire":false}, //Right wheel {"propulsed":0}, {"brakeTorque":0}, {"parkingTorque":0}, {"wheelOffset":-0.004}, {"selfCollision":false} {"collision":true} ["FR", "wheelFR_g", "", "c6", "c7", 9999, "b13", 1, {"speedo":false}] {"propulsed":0}, {"hasTire":false}, ], I want them to be indestructable if possible, or at least have parts disappear when crashed, how to do that?
So you mean like a disk? And also creating the jbeam myself instead of generating it with pressurewheels?
Ok, so I made the wheel with a single ring of 2x heavier nodes and increased the beamSpring almost 5 times, but the wheels still look messy in a crash. It also seems to bounce around more when going at high speeds. It's less likely to explode on small impacts, but if you hit it at more than 80mph the same thing happens. I think I should make it like the pigeon's stabilizer wheels instead where it just disappears, except I can't get that to work either.
Here's the new jbeam for one of the front wheels: This is a screenshot I took a while ago showing how it looked before: And here's what a trolley looks like in a 80mph crash when the wheels glitch out:
It turns out when I changed the wheel jbeam to have only one ring it meant half the roundness of pressurewheels. So that must have been why the cart was bouncing. I've added the extra strength beams and used 10 nodes instead of 8, but it still bounces at high speeds and tips the cart over. The new jbeam crashes very well but random ripples still appear when spinning fast. It's also floppy when it isn't attached to the caster. Here's the jbeam of the wheel: Code: "nodes": [ ["id", "posX", "posY", "posZ"], {"nodeWeight":1}, {"frictionCoef":0.7}, {"nodeMaterial":"|NM_METAL"}, {"collision":true}, {"selfCollision":false}, {"group":"shopping_cart_wheel_FL_g"}, ["c0",0.158,-0.504,0.082], ["c1",0.158,-0.504,0.177], ["c4",0.18,-0.469,0.082], ["c5",0.143,-0.469,0.082], ["cn5",0.113,-0.504,0.082], {"group":"shopping_cart_wheel_FR_g"}, ["c2",-0.158,-0.504,0.082], ["c3",-0.158,-0.504,0.177], ["c6",-0.143,-0.469,0.082], ["c7",-0.18,-0.469,0.082], ["cn7",-0.113,-0.504,0.082], {"group":"FL_g"}, {"nodeWeight":0.24}, {"nodeMaterial":"|NM_PLASTIC"}, ["FL0",0.158,-0.534,0.082], ["FL2",0.158,-0.522,0.043], ["FL3",0.158,-0.522,0.12], ["FL6",0.158,-0.489,0.02], ["FL7",0.158,-0.489,0.143], ["FL10",0.158,-0.449,0.02], ["FL11",0.158,-0.449,0.143], ["FL14",0.158,-0.416,0.043], ["FL15",0.158,-0.416,0.12], ["FL18",0.158,-0.404,0.082], {"group":"FR_g"}, ["FR1",-0.158,-0.534,0.082], ["FR4",-0.158,-0.522,0.043], ["FR5",-0.158,-0.522,0.12], ["FR8",-0.158,-0.489,0.02], ["FR9",-0.158,-0.489,0.143], ["FR12",-0.158,-0.449,0.02], ["FR13",-0.158,-0.449,0.143], ["FR16",-0.158,-0.416,0.043], ["FR17",-0.158,-0.416,0.12], ["FR19",-0.158,-0.404,0.082], ], "beams": [ ["id1:", "id2:"], {"beamSpring":1000000,"beamDamp":80}, {"beamDeform":"FLT_MAX","beamStrength":"FLT_MAX"}, ["c4","c5"], ["c0","c1"], ["c7","c6"], ["c2","c3"], ["c4","c0"], ["c5","c0"], ["c4","c1"], ["c5","c1"], ["c6","c2"], ["c7","c2"], ["c6","c3"], ["c7","c3"], //{"breakGroup":"wheels_attach_F"}, //{"beamDeform":"FLT_MAX","beamStrength":15000}, //["c1","c3"], //["c0","c2"], //["c0","c3"], //["c1","c2"], //attach to body {"beamSpring":850000,"beamDamp":20}, {"beamDeform":"FLT_MAX","beamStrength":25000}, //right {"breakGroup":"wheels_attach_FR"}, ["c2","a11"], ["c2","a2"], ["c2","a4"], ["c3","a11"], ["c3","a2"], ["c3","a4"], //left {"breakGroup":"wheels_attach_FL"}, ["c0","a12"], ["c0","a2"], ["c0","a4"], ["c1","a12"], ["c1","a2"], ["c1","a4"], {"breakGroup":""}, //extra wheel nodes connect {"beamDeform":"FLT_MAX","beamStrength":"FLT_MAX"}, ["cn5","c0"], ["cn5","c1"], ["cn5","c5"], ["cn7","c2"], ["cn7","c3"], ["cn7","c6"], //front wheels {"beamSpring":301000,"beamDamp":3}, ["FL15","FL18"], ["FL11","FL15"], ["FL7","FL11"], ["FL3","FL7"], ["FL0","FL3"], ["FL2","FL0"], ["FL6","FL2"], ["FL10","FL6"], ["FL14","FL10"], ["FL18","FL14"], ["FR17","FR19"], ["FR13","FR17"], ["FR9","FR13"], ["FR5","FR9"], ["FR1","FR5"], ["FR4","FR1"], ["FR8","FR4"], ["FR12","FR8"], ["FR16","FR12"], ["FR19","FR16"], ["FL18","FL11"], ["FL15","FL14"], ["FL18","FL10"], ["FL6","FL14"], ["FL2","FL10"], ["FL0","FL6"], ["FL3","FL2"], ["FL7","FL0"], ["FL11","FL3"], ["FL15","FL7"], ["FL7","FL10"], ["FL11","FL6"], ["FL15","FL2"], ["FL18","FL0"], ["FL3","FL14"], ["FR9","FR12"], ["FR13","FR8"], ["FR17","FR4"], ["FR19","FR1"], ["FR5","FR16"], ["FR9","FR1"], ["FR5","FR4"], ["FR1","FR8"], ["FR4","FR12"], ["FR8","FR16"], ["FR19","FR12"], ["FR17","FR16"], ["FR19","FR13"], ["FR17","FR9"], ["FR13","FR5"], //FL connect ["FL0","c4"], ["FL2","c4"], ["FL3","c4"], ["FL6","c4"], ["FL7","c4"], ["FL10","c4"], ["FL11","c4"], ["FL14","c4"], ["FL15","c4"], ["FL18","c4"], ["FL0","c5"], ["FL2","c5"], ["FL3","c5"], ["FL6","c5"], ["FL7","c5"], ["FL10","c5"], ["FL11","c5"], ["FL14","c5"], ["FL15","c5"], ["FL18","c5"], ],
Oh The way the breakgroups are set up right now is for the caster to break off from the cart with the wheel attached to it. The whole thing weighs around 61kg, with the wheels and casters themselves weighing 27kg. The realistic weight for a shopping cart is around 30kg. But wouldn't it make sense for a shopping cart not to bounce on completely flat terrain like gridmap? With the pressurewheels thing I used before it was able to get past 110mph without tipping over. I can try using 12 or 16 nodes to make the ring, and make the rest of the cart heavier, but the problem is that it's already too heavy.
