Unigine.JointWheel Class

JointWheel joint = new JointWheel(frame, wheel);

// setting joint anchor coordinates
joint.WorldAnchor = wheel.Object.WorldTransform * new dvec3(0.0f));

// setting joint axes coordinates
joint.WorldAxis0 = new vec3(0.0f,0.0f,1.0f);
joint.WorldAxis1 = new vec3(0.0f,1.0f,0.0f);

// setting linear damping and spring rigidity
joint.LinearDamping = 200.0f;
joint.LinearSpring = 100.0f;

// setting lower and upper suspension ride limits [-1.0; 0.0]
joint.LinearLimitFrom = -1.0f;
joint.LinearLimitTo = 0.0f;

// setting target suspension height 
joint.LinearDistance = 0.5f;

// setting maximum angular velocity and torque
joint.AngularVelocity = -20.0f;
joint.AngularTorque = 10.0f;

// setting wheel parameters
joint.WheelRadius = 0.5f;
joint.WheelMass = 4.0f;
joint.WheelThreshold = 0.1f;

// setting tyre friction parameters
joint.TangentFriction = 4.0f;
joint.BinormalFriction = 5.0f;

// setting number of iterations
joint.NumIterations = 8;

JointWheel Class

Properties

float CurrentSlipRatio#

float CurrentSlipAngle#

float WheelThreshold#

float WheelRadius#

float WheelMass#

float TangentFriction#

float TangentAngle#

float BinormalFriction#

float BinormalAngle#

float CurrentAngularVelocity#

float AngularVelocity#

float AngularTorque#

float AngularDamping#

float CurrentLinearDistance#

float LinearSpring#

float LinearLimitTo#

float LinearLimitFrom#

float LinearDistance#

float LinearDamping#

int PhysicsIntersectionMask#

vec3 WorldAxis1#

vec3 WorldAxis0#

vec3 Axis11#

vec3 Axis10#

vec3 Axis00#

Members

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static JointWheel ( ) #

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

static JointWheel ( Body body0, Body body1 ) #

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

Arguments

• Body body0 - Frame to be connected with the joint.
• Body body1 - Wheel to be connected with the joint.

static JointWheel ( Body body0, Body body1, vec3 anchor, vec3 axis0, 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

• Body body0 - Frame to be connected with the joint.
• Body body1 - Wheel to be connected with the joint.
• vec3 anchor - Anchor coordinates.
• vec3 axis0 - Suspension axis coordinates.
• vec3 axis1 - Wheel spindle axis coordinates.

vec3 GetContactNormal ( ) #

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

Return value

Normal.

Object GetContactObject ( ) #

Returns an object representing the ground.

Return value

Ground object.

vec3 GetContactPoint ( ) #

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

Return value

Point coordinates.

Shape GetContactShape ( ) #

Returns a shape of the object representing the ground.

Return value

Shape of the ground object.

int GetContactSurface ( ) #

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

Return value

Surface number.