# Revision history [back]

Hi,

You should also fix the [inertia](link text values. There can be computed with the help of this wikipedia page:

For example if you choose the chassis to be a cuboid the ixx, iyy, izz values need to be:
1/12*m(h^2+d^2) (where m = mass, h = height, d = depth):

<link name="chassis">
<inertial>
<mass>14.0</mass>
<inertia>
<ixx>1/12*m(h^2+d^2)</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1/12*m(h^2+d^2)</iyy>
<iyz>0.0</iyz>
<izz>1/12*m(h^2+d^2)</izz>
</inertia>
</inertial>


As for mu, mu2, slip1, slip2 they are explained here, notice that the values are between [0..1]. For more information check out this ODE page and just search for mu, mu2, slip1, slip2 it will be more deeply explained.

Cheers

Hi,

You should also fix the [inertia](link textinertia values. There These can be computed with the help of this wikipedia page:

For example if you choose the chassis to be a cuboid the ixx, iyy, izz values need to be:
1/12*m(h^2+d^2) (where m = mass, h = height, d = depth):

<link name="chassis">
<inertial>
<mass>14.0</mass>
<inertia>
<ixx>1/12*m(h^2+d^2)</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1/12*m(h^2+d^2)</iyy>
<iyz>0.0</iyz>
<izz>1/12*m(h^2+d^2)</izz>
</inertia>
</inertial>


As for mu, mu2, slip1, slip2 they are explained here, notice that the values are between [0..1]. For more information check out this ODE page and just search for mu, mu2, slip1, slip2 it will be more deeply explained.

Cheers