I'm a little lost with all these acceleration values in the physical engine.

I manage to understand that the current version used by default is the simuv2.1. However, I don't precisely understand why there are 9 values of the acceleration.

Here is the code I'm talking about :

- Code: Select all
`/* compute accelerations */`

car->DynGC.acc.x = F.F.x * minv;

car->DynGC.acc.y = F.F.y * minv;

car->DynGC.acc.z = F.F.z * minv;

car->DynGCg.acc.x = (F.F.x * Cosz - F.F.y * Sinz - Rx) * minv;

car->DynGCg.acc.y = (F.F.x * Sinz + F.F.y * Cosz - Ry) * minv;

car->DynGCg.acc.z = car->DynGC.acc.z;

car->DynGCg.acc.ax = car->DynGC.acc.ax = F.M.x * car->Iinv.x;

car->DynGCg.acc.ay = car->DynGC.acc.ay = F.M.y * car->Iinv.y;

car->DynGCg.acc.az = car->DynGC.acc.az = (F.M.z - Rm) * car->Iinv.z;

So I kinda understand that the first 3 values are the acceleration in an immutable spatial reference, the 3 next ones are related to the car reference (or maybe the opposite way), but I really don't understand the 3 last ones.

As I would like to retrieve the value of the projection of the acceleration on the axis perpendicular to the camera view direction (Y axis on the attached draw where the X vector is the direction of the camera view). I would like to be sure that I pick the good one.

So, could you tell me if what I said was right and what are the 3 last values ?

Best,