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back drive wheel with tread around the drive wheel modeled as a single rigid body.front drive wheel with tread around the drive wheel modeled as a single rigid body.If near real-time performance is needed, one possible "cheat" I can think of is to break the track into a few sections: small time step size + high inner iteration count). I agree that simulating contacts between the tread's rigid body links, the drive wheels and the ground might be computationally very expensive to simulate stably and correctly (i.e. This would be a more accurate model of the tread but I'm concerned with the stability and performance of ODE if I take this approach. I have also considered modelling the track as a chain of rigid links being driven by the drive wheel. While this works, it is a very rough approximation and there are un-addressed issues such as determining the torque to apply on each wheel joint based upon the signal sent to the drive motor and the friction each wheel is encountering. The tread is modeled as a series of overlapping non-colliding wheels. I am particularly interested in tasks such as climbing over stairs the way these robots climb over stairs is dependent on some approximation of a track being present.ĭoes anyone have any advice or pointers on how I can model a track driven robot, preferably with Gazebo & URDF?Ĭurrently I am using ODE and some OpenGL visualizations I wrote myself. Ideally I would like to represent the robot with URDF and use Gazebo as the simulation environment. I'm trying simulate the movement of a robot with a rubber track similar to iRobot's LANdroid. I say buff her accuracy and give her SAP shells to help the overpen issue. At tier X however, especially with CVs around, she can do precious little IMO. At tier VI-IX battles, she is a scary ship to face for other BBs and maybe CAs. She is a ship that favors non-CV battles while top/mid tier. For close range, you overpen too much and your secondaries can't be relied upon unless she's top-tier. She does good at mid range, but that's about it. Yes, her shells have just enough punch to hurt tier Xs, but your chances of surviving such an encounter is slim to none. Sometimes she deletes things beautifully, at other times, she overpens everything or brackets your targets like a she's trying to make cardboard cut-outs out of them. Her guns are trolltastic rifles filled with total RNG shells. CVs knowing this WILL hunt you down and she has zero chances against tier X CVs focusing her without serious backup. However, her AA is laughable, even if supported with fighter planes. She has good concealment, half-decent secondaries (not quite German levels though) and half-decent speed. Originalmente postado por eMercody:I heard Roma has a pretty good everything except guns. WHILE ENTRY=^M CALL RESCIND.GOVERN LOGIC.NEW. 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