Height functors with Rigid Terrain + Rigid Tire

[JC Denton]

Hello!

I'm using a Rigid terrain with a rigid tire and I've set up the Height/Normal/Friction callback functors, which work fine when I'm using a TMeasy tire, but they never seem to get called when using a Rigid Tire. Is this normal, or what might I be doing wrong? The rigid tire is colliding fine with bullet collision shapes, but not the landscape. 


Thanks
-JC

[Radu Serban]

Hi JC,

 

A ChRigidTire leverages the Chrono collision and contact systems. As such, it can only interact with terrains that define collision shapes (e.g., RigidTerrain) or else use the Chrono collision models (e.g., SCM and CRM terrains).

 

The handling tire models, such as TMeasy, do not define collision shapes and only need to query height, normal, and coefficient of friction from a terrain.

If you defined a custom terrain that only provides these callbacks, you didn’t really define a “rigid” terrain.  If you want rigid tires to interact with your custom terrain you will have to also attach collision shapes to your terrain.

 

--Radu

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