Unigine.JointWheel Class

JointWheel joint = new JointWheel(frame, wheel);

// setting joint anchor coordinates
joint.setWorldAnchor(wheel.getObject().getWorldTransform() * new dvec3(0.0f));

// setting joint axes coordinates
joint.setWorldAxis0(new vec3(0.0f,0.0f,1.0f));
joint.setWorldAxis1(new 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

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 IntersectionMask#

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.

JointWheel Cast ( Joint joint ) #

Casts a JointWheel out of the Joint instance.

Arguments

• Joint joint - Joint instance.

Return value

JointWheel.

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.