Unigine::JointWheel Class

include <UniginePhysics.h>

/* .. */

JointWheelPtr joint = JointWheel::create(frame, wheel);

// setting joint anchor coordinates
joint->setWorldAnchor(wheel->getObject()->getWorldTransform() * Vec3(0.0f));

// setting joint axes coordinates
joint->setWorldAxis0(vec3(0.0f,0.0f,1.0f));
joint->setWorldAxis1(vec3(0.0f,1.0f,0.0f));

// setting linear damping and spring rigidity
joint->setLinearDamping(200.0f);
joint->setLinearSpring(100.0f);

// setting lower and upper suspension ride limits [-1.0; 0.0]
joint->setLinearLimitFrom(-1.0f);
joint->setLinearLimitTo(0.0f);

// setting target suspension height 
joint->setLinearDistance(0.5f);

// setting maximum angular velocity and torque
joint->setAngularVelocity(-20.0f);
joint->setAngularTorque(10.0f);

// setting wheel parameters
joint->setWheelRadius(0.5f);
joint->setWheelMass(4.0f);
joint->setWheelThreshold(0.1f);

// setting tyre friction parameters
joint->setTangentFriction(4.0f);
joint->setBinormalFriction(5.0f);

// setting number of iterations
joint->setNumIterations(8);

JointWheel Class

Members

float getCurrentSlipRatio() const#

Return value

Current current slip ratio, in percent. 0 means that the velocities are equal. If the throttle is pressed, the value will be positive. If the brake is pressed, the value will be negative.

float getCurrentSlipAngle() const#

Return value

Current current slip angle in degrees.

void setWheelThreshold ( float threshold ) #

Arguments

• float threshold - The difference threshold. If a negative value is provided, 0 will be used instead.

float getWheelThreshold() const#

Return value

Current difference threshold. If a negative value is provided, 0 will be used instead.

void setWheelRadius ( float radius ) #

Arguments

• float radius - The radius of the wheel, in units. If a negative value is provided, 0 will be used instead.

float getWheelRadius() const#

Return value

Current radius of the wheel, in units. If a negative value is provided, 0 will be used instead.

void setWheelMass ( float mass ) #

Arguments

• float mass - The mass of the wheel. If a negative value is provided, 0 will be used instead.

float getWheelMass() const#

Return value

Current mass of the wheel. If a negative value is provided, 0 will be used instead.

void setTangentFriction ( float friction ) #

Arguments

• float friction - The longitudinal friction. If a negative value is provided, 0 will be used instead.

float getTangentFriction() const#

Return value

Current longitudinal friction. If a negative value is provided, 0 will be used instead.

void setTangentAngle ( float angle ) #

Arguments

• float angle - The coefficient characterizing the tire longitudinal impulse. If a negative value is provided, 0 will be used instead.

float getTangentAngle() const#

Return value

Current coefficient characterizing the tire longitudinal impulse. If a negative value is provided, 0 will be used instead.

void setBinormalFriction ( float friction ) #

Arguments

• float friction - The lateral friction. If a negative value is provided, 0 will be used instead.

float getBinormalFriction() const#

Return value

Current lateral friction. If a negative value is provided, 0 will be used instead.

void setBinormalAngle ( float angle ) #

Arguments

• float angle - The coefficient characterizing the tire lateral impulse. If a negative value is provided, 0 will be used instead.

float getBinormalAngle() const#

Return value

Current coefficient characterizing the tire lateral impulse. If a negative value is provided, 0 will be used instead.

void setCurrentAngularVelocity ( float velocity ) #

Arguments

• float velocity - The angular velocity in radians per second. Setting the value to 0 allows stopping the car when necessary.

float getCurrentAngularVelocity() const#

Return value

Current angular velocity in radians per second. Setting the value to 0 allows stopping the car when necessary.

void setAngularVelocity ( float velocity ) #

Arguments

• float velocity - The target velocity, in radians per second.

float getAngularVelocity() const#

Return value

Current target velocity, in radians per second.

void setAngularTorque ( float torque ) #

Arguments

• float torque - The maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

float getAngularTorque() const#

Return value

Current maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

void setAngularDamping ( float damping ) #

Arguments

• float damping - The angular damping. If a negative value is provided, 0 will be used instead.

float getAngularDamping() const#

Return value

Current angular damping. If a negative value is provided, 0 will be used instead.

void setCurrentLinearDistance ( float distance ) #

Arguments

• float distance - The suspension length, in units.

float getCurrentLinearDistance() const#

Return value

Current suspension length, in units.

void setLinearSpring ( float spring ) #

Arguments

• float spring - The rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the suspension.

float getLinearSpring() const#

Return value

Current rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the suspension.

void setLinearLimitTo ( float to ) #

Arguments

• float to - The high limit in units.

float getLinearLimitTo() const#

Return value

Current high limit in units.

void setLinearLimitFrom ( float from ) #

Arguments

• float from - The low limit in units.

float getLinearLimitFrom() const#

Return value

Current low limit in units.

void setLinearDistance ( float distance ) #

Arguments

• float distance - The height, in units.

float getLinearDistance() const#

Return value

Current height, in units.

void setLinearDamping ( float damping ) #

Arguments

• float damping - The linear damping. If a negative value is provided, 0 will be used instead.

float getLinearDamping() const#

Return value

Current linear damping. If a negative value is provided, 0 will be used instead.

void setPhysicsIntersectionMask ( int mask ) #

Arguments

• int mask - The

int getPhysicsIntersectionMask() const#

Return value

Current

void setWorldAxis0 ( const Math::vec3& axis0 ) #

Arguments

• const Math::vec3& axis0 - The suspension axis in the world coordinates.

Math::vec3 getWorldAxis0() const#

Return value

Current suspension axis in the world coordinates.

void setWorldAxis1 ( const Math::vec3& axis1 ) #

Arguments

• const Math::vec3& axis1 - The wheel spindle axis in the world coordinates.

Math::vec3 getWorldAxis1() const#

Return value

Current wheel spindle axis in the world coordinates.

void setAxis00 ( const Math::vec3& axis00 ) #

Arguments

• const Math::vec3& axis00 - The suspension axis, in the world coordinates.

Math::vec3 getAxis00() const#

Return value

Current suspension axis, in the world coordinates.

void setAxis10 ( const Math::vec3& axis10 ) #

Arguments

• const Math::vec3& axis10 - The wheel spindle axis in coordinates of the frame (body 0).

Math::vec3 getAxis10() const#

Return value

Current wheel spindle axis in coordinates of the frame (body 0).

void setAxis11 ( const Math::vec3& axis11 ) #

Arguments

• const Math::vec3& axis11 - The wheel spindle axis in coordinates of the wheel (body 1).

Math::vec3 getAxis11() const#

Return value

Current wheel spindle axis in coordinates of the wheel (body 1).

---

static JointWheelPtr create ( ) #

Constructor. Creates a wheel joint with an anchor at the origin of the world coordinates.

static JointWheelPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #

Constructor. Creates a wheel joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.

Arguments

• const Ptr<Body> & body0 - Frame to be connected with the joint.
• const Ptr<Body> & body1 - Wheel to be connected with the joint.

static JointWheelPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis0, const Math::vec3 & axis1 ) #

Constructor. Creates a wheel joint connecting two given bodies with specified suspension and spindle axis coordinates and an anchor placed at specified coordinates.

Arguments

• const Ptr<Body> & body0 - Frame to be connected with the joint.
• const Ptr<Body> & body1 - Wheel to be connected with the joint.
• const Math::Vec3 & anchor - Anchor coordinates.
• const Math::vec3 & axis0 - Suspension axis coordinates.
• const Math::vec3 & axis1 - Wheel spindle axis coordinates.

Math::vec3 getContactNormal ( ) const#

Returns a normal of a point of contact with the ground, in world coordinates.

Return value

Normal.

Ptr<Object> getContactObject ( ) const#

Returns an object representing the ground.

Return value

Ground object.

Math::Vec3 getContactPoint ( ) const#

Returns a point of contact with the ground, in world coordinates.

Return value

Point coordinates.

Ptr<Shape> getContactShape ( ) const#

Returns a shape of the object representing the ground.

Return value

Shape of the ground object.

int getContactSurface ( ) const#

Returns a surface of a ground object, which is in contact.

Return value

Surface number.

void setCanBeUnderTerrain ( bool val ) #

Sets a value indicating if the Wheel Joint should be used under the surface of the terrain (drive in an underground parking or tunnel). This flag ensures proper behavior of the joint underground , otherwise the Wheel Joint will tend to pop up on the terrain surface above.

Arguments

• bool val - true if the Wheel Joint is to be used under the surface of the terrain; otherwise, false.