Wheel Class Reference

Base class for runtime data for a wheel, each VehicleController can implement a derived class of this. More...

#include <Wheel.h>

Inheritance diagram for Wheel:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	Wheel (const WheelSettings &inSettings)
	Constructor / destructor.
virtual	~Wheel ()=default
const WheelSettings *	GetSettings () const
	Get settings for the wheel.
float	GetAngularVelocity () const
	Get the angular velocity (rad/s) for this wheel, note that positive means the wheel is rotating such that the car moves forward.
void	SetAngularVelocity (float inVel)
	Update the angular velocity (rad/s)
float	GetRotationAngle () const
	Get the current rotation angle of the wheel in radians [0, 2 pi].
void	SetRotationAngle (float inAngle)
	Set the current rotation angle of the wheel in radians [0, 2 pi].
float	GetSteerAngle () const
	Get the current steer angle of the wheel in radians [-pi, pi], positive is to the left.
void	SetSteerAngle (float inAngle)
	Set the current steer angle of the wheel in radians [-pi, pi].
bool	HasContact () const
	Returns true if the wheel is touching an object.
BodyID	GetContactBodyID () const
	Returns the body ID of the body that this wheel is touching.
SubShapeID	GetContactSubShapeID () const
	Returns the sub shape ID where we're contacting the body.
RVec3	GetContactPosition () const
	Returns the current contact position in world space (note by the time you call this the vehicle has moved)
Vec3	GetContactPointVelocity () const
	Velocity of the contact point (m / s, not relative to the wheel but in world space)
Vec3	GetContactNormal () const
	Returns the current contact normal in world space (note by the time you call this the vehicle has moved)
Vec3	GetContactLongitudinal () const
	Returns longitudinal direction (direction along the wheel relative to floor) in world space (note by the time you call this the vehicle has moved)
Vec3	GetContactLateral () const
	Returns lateral direction (sideways direction) in world space (note by the time you call this the vehicle has moved)
float	GetSuspensionLength () const
	Get the length of the suspension for a wheel (m) relative to the suspension attachment point (hard point)
bool	HasHitHardPoint () const
	Check if the suspension hit its upper limit.
float	GetSuspensionLambda () const
	Get the total impulse (N s) that was applied by the suspension.
float	GetLongitudinalLambda () const
	Get total impulse (N s) applied along the forward direction of the wheel.
float	GetLateralLambda () const
	Get total impulse (N s) applied along the sideways direction of the wheel.
bool	SolveLongitudinalConstraintPart (const VehicleConstraint &inConstraint, float inMinImpulse, float inMaxImpulse)
	Internal function that should only be called by the controller. Used to apply impulses in the forward direction of the vehicle.
bool	SolveLateralConstraintPart (const VehicleConstraint &inConstraint, float inMinImpulse, float inMaxImpulse)
	Internal function that should only be called by the controller. Used to apply impulses in the sideways direction of the vehicle.
Public Member Functions inherited from NonCopyable
	NonCopyable ()=default
	NonCopyable (const NonCopyable &)=delete
void	operator= (const NonCopyable &)=delete

Protected Attributes
RefConst< WheelSettings >	mSettings
	Configuration settings for this wheel.
BodyID	mContactBodyID
	ID of body for ground.
SubShapeID	mContactSubShapeID
	Sub shape ID for ground.
Body *	mContactBody = nullptr
	Body for ground.
float	mSuspensionLength
	Current length of the suspension.
RVec3	mContactPosition
	Position of the contact point between wheel and ground.
Vec3	mContactPointVelocity
	Velocity of the contact point (m / s, not relative to the wheel but in world space)
Vec3	mContactNormal
	Normal of the contact point between wheel and ground.
Vec3	mContactLongitudinal
	Vector perpendicular to normal in the forward direction.
Vec3	mContactLateral
	Vector perpendicular to normal and longitudinal direction in the right direction.
Real	mAxlePlaneConstant
	Constant for the contact plane of the axle, defined as ContactNormal . (WorldSpaceSuspensionPoint + SuspensionLength * WorldSpaceSuspensionDirection)
float	mAntiRollBarImpulse = 0.0f
	Amount of impulse applied to the suspension from the anti-rollbars.
float	mSteerAngle = 0.0f
	Rotation around the suspension direction, positive is to the left.
float	mAngularVelocity = 0.0f
	Rotation speed of wheel, positive when the wheels cause the vehicle to move forwards (rad/s)
float	mAngle = 0.0f
	Current rotation of the wheel (rad, [0, 2 pi])
AxisConstraintPart	mSuspensionPart
	Controls movement up/down along the contact normal.
AxisConstraintPart	mSuspensionMaxUpPart
	Adds a hard limit when reaching the minimal suspension length.
AxisConstraintPart	mLongitudinalPart
	Controls movement forward/backward.
AxisConstraintPart	mLateralPart
	Controls movement sideways (slip)

Friends
class	VehicleConstraint

Detailed Description

Base class for runtime data for a wheel, each VehicleController can implement a derived class of this.

Constructor & Destructor Documentation

Wheel()

Wheel::Wheel ( const WheelSettings &  inSettings )

explicit

Constructor / destructor.

~Wheel()

virtual Wheel::~Wheel ( )

virtualdefault

Member Function Documentation

GetAngularVelocity()

float Wheel::GetAngularVelocity ( ) const

inline

Get the angular velocity (rad/s) for this wheel, note that positive means the wheel is rotating such that the car moves forward.

GetContactBodyID()

BodyID Wheel::GetContactBodyID ( ) const

inline

Returns the body ID of the body that this wheel is touching.

GetContactLateral()

Vec3 Wheel::GetContactLateral ( ) const

inline

Returns lateral direction (sideways direction) in world space (note by the time you call this the vehicle has moved)

GetContactLongitudinal()

Vec3 Wheel::GetContactLongitudinal ( ) const

inline

Returns longitudinal direction (direction along the wheel relative to floor) in world space (note by the time you call this the vehicle has moved)

GetContactNormal()

Vec3 Wheel::GetContactNormal ( ) const

inline

Returns the current contact normal in world space (note by the time you call this the vehicle has moved)

GetContactPointVelocity()

Vec3 Wheel::GetContactPointVelocity ( ) const

inline

Velocity of the contact point (m / s, not relative to the wheel but in world space)

GetContactPosition()

RVec3 Wheel::GetContactPosition ( ) const

inline

Returns the current contact position in world space (note by the time you call this the vehicle has moved)

GetContactSubShapeID()

SubShapeID Wheel::GetContactSubShapeID ( ) const

inline

Returns the sub shape ID where we're contacting the body.

GetLateralLambda()

float Wheel::GetLateralLambda ( ) const

inline

Get total impulse (N s) applied along the sideways direction of the wheel.

GetLongitudinalLambda()

float Wheel::GetLongitudinalLambda ( ) const

inline

Get total impulse (N s) applied along the forward direction of the wheel.

GetRotationAngle()

float Wheel::GetRotationAngle ( ) const

inline

Get the current rotation angle of the wheel in radians [0, 2 pi].

GetSettings()

const WheelSettings * Wheel::GetSettings ( ) const

inline

Get settings for the wheel.

GetSteerAngle()

float Wheel::GetSteerAngle ( ) const

inline

Get the current steer angle of the wheel in radians [-pi, pi], positive is to the left.

GetSuspensionLambda()

float Wheel::GetSuspensionLambda ( ) const

inline

Get the total impulse (N s) that was applied by the suspension.

GetSuspensionLength()

float Wheel::GetSuspensionLength ( ) const

inline

Get the length of the suspension for a wheel (m) relative to the suspension attachment point (hard point)

HasContact()

bool Wheel::HasContact ( ) const

inline

Returns true if the wheel is touching an object.

HasHitHardPoint()

bool Wheel::HasHitHardPoint ( ) const

inline

Check if the suspension hit its upper limit.

SetAngularVelocity()

void Wheel::SetAngularVelocity ( float  inVel )

inline

Update the angular velocity (rad/s)

SetRotationAngle()

void Wheel::SetRotationAngle ( float  inAngle )

inline

Set the current rotation angle of the wheel in radians [0, 2 pi].

SetSteerAngle()

void Wheel::SetSteerAngle ( float  inAngle )

inline

Set the current steer angle of the wheel in radians [-pi, pi].

SolveLateralConstraintPart()

bool Wheel::SolveLateralConstraintPart	(	const VehicleConstraint &	inConstraint,
		float	inMinImpulse,
		float	inMaxImpulse
	)

Internal function that should only be called by the controller. Used to apply impulses in the sideways direction of the vehicle.

SolveLongitudinalConstraintPart()

bool Wheel::SolveLongitudinalConstraintPart	(	const VehicleConstraint &	inConstraint,
		float	inMinImpulse,
		float	inMaxImpulse
	)

Internal function that should only be called by the controller. Used to apply impulses in the forward direction of the vehicle.

Friends And Related Symbol Documentation

VehicleConstraint

friend class VehicleConstraint

friend

Member Data Documentation

mAngle

float Wheel::mAngle = 0.0f

protected

Current rotation of the wheel (rad, [0, 2 pi])

mAngularVelocity

float Wheel::mAngularVelocity = 0.0f

protected

Rotation speed of wheel, positive when the wheels cause the vehicle to move forwards (rad/s)

mAntiRollBarImpulse

float Wheel::mAntiRollBarImpulse = 0.0f

protected

Amount of impulse applied to the suspension from the anti-rollbars.

mAxlePlaneConstant

Real Wheel::mAxlePlaneConstant

protected

Constant for the contact plane of the axle, defined as ContactNormal . (WorldSpaceSuspensionPoint + SuspensionLength * WorldSpaceSuspensionDirection)

mContactBody

Body* Wheel::mContactBody = nullptr

protected

Body for ground.

mContactBodyID

BodyID Wheel::mContactBodyID

protected

ID of body for ground.

mContactLateral

Vec3 Wheel::mContactLateral

protected

Vector perpendicular to normal and longitudinal direction in the right direction.

mContactLongitudinal

Vec3 Wheel::mContactLongitudinal

protected

Vector perpendicular to normal in the forward direction.

mContactNormal

Vec3 Wheel::mContactNormal

protected

Normal of the contact point between wheel and ground.

mContactPointVelocity

Vec3 Wheel::mContactPointVelocity

protected

Velocity of the contact point (m / s, not relative to the wheel but in world space)

mContactPosition

RVec3 Wheel::mContactPosition

protected

Position of the contact point between wheel and ground.

mContactSubShapeID

SubShapeID Wheel::mContactSubShapeID

protected

Sub shape ID for ground.

mLateralPart

AxisConstraintPart Wheel::mLateralPart

protected

Controls movement sideways (slip)

mLongitudinalPart

AxisConstraintPart Wheel::mLongitudinalPart

protected

Controls movement forward/backward.

mSettings

RefConst<WheelSettings> Wheel::mSettings

protected

Configuration settings for this wheel.

mSteerAngle

float Wheel::mSteerAngle = 0.0f

protected

Rotation around the suspension direction, positive is to the left.

mSuspensionLength

float Wheel::mSuspensionLength

protected

Current length of the suspension.

mSuspensionMaxUpPart

AxisConstraintPart Wheel::mSuspensionMaxUpPart

protected

Adds a hard limit when reaching the minimal suspension length.

mSuspensionPart

AxisConstraintPart Wheel::mSuspensionPart

protected

Controls movement up/down along the contact normal.

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The documentation for this class was generated from the following files:

• Jolt/Physics/Vehicle/Wheel.h
• Jolt/Physics/Vehicle/Wheel.cpp