![]() A solid layer below and an elastic layer on top having a depth of a few mm. Our second attempt was to break the ground model into two parts. On the not-so-physically accurate side, we could have applied an additional torque to the wheel to compensate for the increased rolling resistance, but it would reduce the available grip of the tire even more, due to the increased propulsive demands being put on the tire. ![]() And anyways, the idea was also too expensive in computational cost. The net energy loss was the same, because although the nodes were lighter and took less energy to collide, there were more of them colliding. The first thing we tried to do was increase the number of tire nodes to make the tire “more continuous”.
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