From e8aaeb46cbc6c84edb494d504f441590af1d58aa Mon Sep 17 00:00:00 2001
From: Dhruv Arora <dhruv.arora1@autodesk.com>
Date: Tue, 25 Jun 2024 13:55:42 -0700
Subject: [PATCH] Added basic friction - floor friction and longitudinal and
 latitudinal friction

---
 fission/src/systems/physics/PhysicsSystem.ts         | 12 +++++++-----
 fission/src/systems/simulation/driver/WheelDriver.ts |  5 +++++
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 3a0f164f5a..8461f6cbc2 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -68,8 +68,10 @@ class PhysicsSystem extends WorldSystem {
             new THREE.Vector3(0.0, -2.0, 0.0),
             undefined
         )
+        ground.SetFriction(0.7);
         this._joltBodyInterface.AddBody(ground.GetID(), JOLT.EActivation_Activate)
     }
+    
 
     /**
      * TEMPORARY
@@ -453,11 +455,11 @@ class PhysicsSystem extends WorldSystem {
         wheelSettings.mSuspensionMaxLength = 0.0000006
         wheelSettings.mInertia = 1
 
-        const friction = new JOLT.LinearCurve()
-        friction.Clear()
-        friction.AddPoint(1, 1)
-        friction.AddPoint(0, 1)
-        wheelSettings.mLongitudinalFriction = friction
+        // const friction = new JOLT.LinearCurve()
+        // friction.Clear()
+        // friction.AddPoint(1, 1)
+        // friction.AddPoint(0, 1)
+        // wheelSettings.mLongitudinalFriction = friction
 
         const vehicleSettings = new JOLT.VehicleConstraintSettings()
 
diff --git a/fission/src/systems/simulation/driver/WheelDriver.ts b/fission/src/systems/simulation/driver/WheelDriver.ts
index 5758e357ba..627e48b384 100644
--- a/fission/src/systems/simulation/driver/WheelDriver.ts
+++ b/fission/src/systems/simulation/driver/WheelDriver.ts
@@ -2,6 +2,9 @@ import Jolt from "@barclah/jolt-physics"
 import Driver from "./Driver"
 import JOLT from "@/util/loading/JoltSyncLoader"
 
+const LATERIAL_FRICTION = 0.6;
+const LONGITUDINAL_FRICTION = 0.8;
+
 class WheelDriver extends Driver {
     private _constraint: Jolt.VehicleConstraint
     private _wheel: Jolt.WheelWV
@@ -22,6 +25,8 @@ class WheelDriver extends Driver {
 
         this._constraint = constraint;
         this._wheel = JOLT.castObject(this._constraint.GetWheel(0), JOLT.WheelWV);
+        this._wheel.set_mCombinedLateralFriction(LATERIAL_FRICTION); 
+        this._wheel.set_mCombinedLongitudinalFriction(LONGITUDINAL_FRICTION);
     }
 
     public Update(_: number): void {