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Prevent rounding error resulting in 3rd spring.

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6018 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 28d7a722f6f6aa6b7e0202996a3fa853c13ad550
Former-commit-id: 2ecca9aa01af4a68540fe23498de7c54277444a1
This commit is contained in:
kakukri 2015-06-08 01:40:36 +00:00
parent 01419ba47c
commit a22710b2a7
1 changed files with 9 additions and 5 deletions
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14
src/modules/simu/simuv4/car.cpp
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@ -142,10 +142,14 @@ SimCarConfig(tCar *car)
/*for (i = 0; i < 2; i++) {
SimAxleConfig(car, i, 0.0);
}*/
wf0 = (wf0 - car->wheel[FRNT_RGT].weight0 - car->wheel[FRNT_LFT].weight0);
wr0 = (wr0 - car->wheel[REAR_RGT].weight0 - car->wheel[REAR_LFT].weight0);
SimAxleConfig(car, FRNT, wf0);
SimAxleConfig(car, REAR, wr0);
if (Kfheave > 0.0f) {
wf0 = (wf0 - car->wheel[FRNT_RGT].weight0 - car->wheel[FRNT_LFT].weight0);
SimAxleConfig(car, FRNT, wf0);
} else { SimAxleConfig(car, FRNT, 0.0f); }
if (Krheave > 0.0f) {
wr0 = (wr0 - car->wheel[REAR_RGT].weight0 - car->wheel[REAR_LFT].weight0);
SimAxleConfig(car, REAR, wr0);
} else { SimAxleConfig(car, REAR, 0.0f); }
for (i = 0; i < 4; i++) {
SimWheelConfig(car, i);
@ -328,7 +332,7 @@ SimCarUpdateForces(tCar *car)
else {F.F.x -= w;}
}
}
printf("F.F.z=%g F.M.x=%g\n",F.F.z,F.M.x);
/* compute accelerations */
car->DynGC.acc.x = F.F.x * minv;
car->DynGC.acc.y = F.F.y * minv;