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ODE Friction Model

  • ANVEL uses the ODE friction model (based on a fast implementation of the Coulomb friction model) for simulating the interaction between the vehicle (3D body) and the environment (terrain and surface). According to literature, the Coulomb friction model needs only one variable (mu). However, in the menu related to the ODEVTI model appears some parameters, which are not documented. Among others: GlobalMuScale, GlobalSlipScale, TreadMuScale, DeformableSurfaceStiffnessScale, etc. Could you please explain the meaning of those variables as well as the physical meaning of them? Thanks!