Wheel object specifically for WheeledVehicleController. More...

#include <WheeledVehicleController.h>

Inheritance diagram for WheelWV:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	WheelWV (const WheelSettingsWV &inWheel)
	Constructor.

const WheelSettingsWV *	GetSettings () const
	Override GetSettings and cast to the correct class.

void	ApplyTorque (float inTorque, float inDeltaTime)
	Apply a torque (N m) to the wheel for a particular delta time.

void	Update (uint inWheelIndex, float inDeltaTime, const VehicleConstraint &inConstraint)
	Update the wheel rotation based on the current angular velocity.

Public Member Functions inherited from Wheel
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

Public Attributes
float	mLongitudinalSlip = 0.0f
	Velocity difference between ground and wheel relative to ground velocity.

float	mLateralSlip = 0.0f
	Angular difference (in radians) between ground and wheel relative to ground velocity.

float	mCombinedLongitudinalFriction = 0.0f
	Combined friction coefficient in longitudinal direction (combines terrain and tires)

float	mCombinedLateralFriction = 0.0f
	Combined friction coefficient in lateral direction (combines terrain and tires)

float	mBrakeImpulse = 0.0f
	Amount of impulse that the brakes can apply to the floor (excluding friction)

Additional Inherited Members
Protected Attributes inherited from Wheel
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)

Detailed Description

Wheel object specifically for WheeledVehicleController.

Constructor & Destructor Documentation

◆ WheelWV()

WheelWV::WheelWV ( const WheelSettingsWV & inWheel )

explicit

Constructor.

Member Function Documentation

◆ ApplyTorque()

void WheelWV::ApplyTorque	(	float	inTorque,
		float	inDeltaTime
	)

inline

Apply a torque (N m) to the wheel for a particular delta time.

◆ GetSettings()

const WheelSettingsWV * WheelWV::GetSettings ( ) const

inline

Override GetSettings and cast to the correct class.

◆ Update()

void WheelWV::Update	(	uint	inWheelIndex,
		float	inDeltaTime,
		const VehicleConstraint &	inConstraint
	)

Update the wheel rotation based on the current angular velocity.

Member Data Documentation

◆ mBrakeImpulse

float WheelWV::mBrakeImpulse = 0.0f

Amount of impulse that the brakes can apply to the floor (excluding friction)

◆ mCombinedLateralFriction

float WheelWV::mCombinedLateralFriction = 0.0f

Combined friction coefficient in lateral direction (combines terrain and tires)

◆ mCombinedLongitudinalFriction

float WheelWV::mCombinedLongitudinalFriction = 0.0f

Combined friction coefficient in longitudinal direction (combines terrain and tires)

◆ mLateralSlip

float WheelWV::mLateralSlip = 0.0f

Angular difference (in radians) between ground and wheel relative to ground velocity.

◆ mLongitudinalSlip

float WheelWV::mLongitudinalSlip = 0.0f

Velocity difference between ground and wheel relative to ground velocity.

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

Jolt/Physics/Vehicle/WheeledVehicleController.h
Jolt/Physics/Vehicle/WheeledVehicleController.cpp

Public Member Functions

Public Attributes

Additional Inherited Members