Unigine::JointWheel Class

Example#

The following code illustrates connection of two rigid bodies (frame and wheel) using a wheel joint.

Source code (C++)

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);

Методы:

Имя	Описание View: Sort by:
*create*	Constructor.
getCurrentSlipRatio	Returns the current ratio of wheel spin to ground speed.
getCurrentSlipAngle	Returns the current angle between the wheel direction and the frame direction.
setWheelThreshold	Setter and Getter for threshold difference between the wheel and ground velocities.
getWheelThreshold
setWheelRadius	Setter and Getter for radius of the attached wheel.
getWheelRadius	Setter and Getter for radius of the attached wheel.
setWheelMass	Setter and Getter for mass of the attached wheel.
getWheelMass	Setter and Getter for mass of the attached wheel.
setTangentFriction	Setter and Getter for longitudinal (forward) friction of the tire.
getTangentFriction
setTangentAngle	Setter and Getter for coefficient specifying how fast the optimal longitudinal force can be achieved.
getTangentAngle
setBinormalFriction	Setter and Getter for lateral (sideways) friction of the tire.
getBinormalFriction
setBinormalAngle	Setter and Getter for coefficient specifying how fast the optimal lateral force can be achieved.
getBinormalAngle
setCurrentAngularVelocity	Setter and Getter for rotation velocity of the attached wheels.
getCurrentAngularVelocity
setAngularVelocity	Setter and Getter for target velocity of wheel rotation.
getAngularVelocity	Setter and Getter for target velocity of wheel rotation.
setAngularTorque	Setter and Getter for maximum torque of the attached angular motor.
getAngularTorque
setAngularDamping	Setter and Getter for angular damping of the joint (wheel rotation damping).
getAngularDamping
setCurrentLinearDistance	Setter and Getter for The current suspension compression (i.e. the length of the suspension).
getCurrentLinearDistance
setLinearSpring	Setter and Getter for rigidity coefficient of the suspension.
getLinearSpring
setLinearLimitTo	Setter and Getter for high limit of the suspension ride.
getLinearLimitTo	Setter and Getter for high limit of the suspension ride.
setLinearLimitFrom	Setter and Getter for low limit of the suspension ride.
getLinearLimitFrom	Setter and Getter for low limit of the suspension ride.
setLinearDistance	Setter and Getter for target height of the suspension.
getLinearDistance	Setter and Getter for target height of the suspension.
setLinearDamping	Setter and Getter for linear damping of the suspension.
getLinearDamping	Setter and Getter for linear damping of the suspension.
setPhysicsIntersectionMask	Setter and Getter for physics intersection mask for the joint.
getPhysicsIntersectionMask
setWorldAxis0	Setter and Getter for suspension axis in the world coordinates.
getWorldAxis0
setWorldAxis1	Setter and Getter for wheel spindle axis in the world coordinates.
getWorldAxis1
setAxis00	Setter and Getter for coordinates of suspension axis, along which a wheel moves vertically.
getAxis00
setAxis10	Setter and Getter for wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).
getAxis10
setAxis11	Setter and Getter for wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.
getAxis11
getContactNormal	Returns a normal of a point of contact with the ground, in world coordinates.
getContactObject	Returns an object representing the ground.
getContactPoint	Returns a point of contact with the ground, in world coordinates.
getContactShape	Returns a shape of the object representing the ground.
getContactSurface	Returns a surface of a ground object, which is in contact.
setCanBeUnderTerrain	Sets a value indicating if the Wheel Joint should be used under the surface of the terrain (drive in an underground parking or tunnel).

JointWheel Class

Members

float getCurrentSlipRatio() const#

Returns the current ratio of wheel spin to ground speed.

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#

Returns the current angle between the wheel direction and the frame direction.

Return value

Current current slip angle in degrees.

void setWheelThreshold ( float threshold ) #

Sets a new threshold difference between the wheel and ground velocities. When it is too small, the longitudinal force is scaled down to prevent unnatural vibrations.

Arguments

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

float getWheelThreshold() const#

Returns the current threshold difference between the wheel and ground velocities. When it is too small, the longitudinal force is scaled down to prevent unnatural vibrations.

Return value

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

void setWheelRadius ( float radius ) #

Sets a new radius of the attached wheel.

Arguments

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

float getWheelRadius() const#

Returns the current radius of the attached wheel.

Return value

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

void setWheelMass ( float mass ) #

Sets a new mass of the attached wheel.

NoticeIf g (Earth's gravity) equals to 9.8 m/s
						2, and 1 unit equals to 1 m, the mass is measured in kilograms.
					

Arguments

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

float getWheelMass() const#

Returns the current mass of the attached wheel.

NoticeIf g (Earth's gravity) equals to 9.8 m/s
						2, and 1 unit equals to 1 m, the mass is measured in kilograms.
					

Return value

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

void setTangentFriction ( float friction ) #

Sets a new longitudinal (forward) friction of the tire.

Arguments

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

float getTangentFriction() const#

Returns the current longitudinal (forward) friction of the tire.

Return value

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

void setTangentAngle ( float angle ) #

Sets a new coefficient specifying how fast the optimal longitudinal force can be achieved. The larger this value, the more is the impulse produced by the tire.

Arguments

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

float getTangentAngle() const#

Returns the current coefficient specifying how fast the optimal longitudinal force can be achieved. The larger this value, the more is the impulse produced by the tire.

Return value

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

void setBinormalFriction ( float friction ) #

Sets a new lateral (sideways) friction of the tire.

Arguments

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

float getBinormalFriction() const#

Returns the current lateral (sideways) friction of the tire.

Return value

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

void setBinormalAngle ( float angle ) #

Sets a new coefficient specifying how fast the optimal lateral force can be achieved. The larger this value, the more is the impulse produced by the tire.

Arguments

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

float getBinormalAngle() const#

Returns the current coefficient specifying how fast the optimal lateral force can be achieved. The larger this value, the more is the impulse produced by the tire.

Return value

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

void setCurrentAngularVelocity ( float velocity ) #

Sets a new rotation velocity of the attached wheels.

Arguments

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

float getCurrentAngularVelocity() const#

Returns the current rotation velocity of the attached wheels.

Return value

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

void setAngularVelocity ( float velocity ) #

Sets a new target velocity of wheel rotation.

Arguments

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

float getAngularVelocity() const#

Returns the current target velocity of wheel rotation.

Return value

Current target velocity, in radians per second.

void setAngularTorque ( float torque ) #

Sets a new maximum torque of the attached angular motor. 0 means that the motor is not attached.

Arguments

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

float getAngularTorque() const#

Returns the current maximum torque of the attached angular motor. 0 means that the motor is not attached.

Return value

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

void setAngularDamping ( float damping ) #

Sets a new angular damping of the joint (wheel rotation damping).

Arguments

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

float getAngularDamping() const#

Returns the current angular damping of the joint (wheel rotation damping).

Return value

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

void setCurrentLinearDistance ( float distance ) #

Sets a new The current suspension compression (i.e. the length of the suspension).

Arguments

float distance - The suspension length, in units.

float getCurrentLinearDistance() const#

Returns the current The current suspension compression (i.e. the length of the suspension).

Return value

Current suspension length, in units.

void setLinearSpring ( float spring ) #

Sets a new rigidity coefficient of the suspension. 0 means that the suspension is not attached.

Arguments

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

float getLinearSpring() const#

Returns the current rigidity coefficient of the suspension. 0 means that the suspension is not attached.

Return value

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

void setLinearLimitTo ( float to ) #

Sets a new high limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.

Arguments

float to - The high limit in units.

float getLinearLimitTo() const#

Returns the current high limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.

Return value

Current high limit in units.

void setLinearLimitFrom ( float from ) #

Sets a new low limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.

Arguments

float from - The low limit in units.

float getLinearLimitFrom() const#

Returns the current low limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.

Return value

Current low limit in units.

void setLinearDistance ( float distance ) #

Sets a new target height of the suspension.

Arguments

float distance - The height, in units.

float getLinearDistance() const#

Returns the current target height of the suspension.

Return value

Current height, in units.

void setLinearDamping ( float damping ) #

Sets a new linear damping of the suspension.

Arguments

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

float getLinearDamping() const#

Returns the current linear damping of the suspension.

Return value

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

void setPhysicsIntersectionMask ( int mask ) #

Sets a new physics intersection mask for the joint.integer, each bit of which is a mask.

Arguments

int mask - The

int getPhysicsIntersectionMask() const#

Returns the current physics intersection mask for the joint.integer, each bit of which is a mask.

Return value

Current

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

Sets a new suspension axis in the world coordinates.

Arguments

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

Math::vec3 getWorldAxis0() const#

Returns the current suspension axis in the world coordinates.

Return value

Current suspension axis in the world coordinates.

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

Sets a new wheel spindle axis in the world coordinates.

Arguments

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

Math::vec3 getWorldAxis1() const#

Returns the current wheel spindle axis in the world coordinates.

Return value

Current wheel spindle axis in the world coordinates.

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

Sets a new coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.

Arguments

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

Math::vec3 getAxis00() const#

Returns the current coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.

Return value

Current suspension axis, in the world coordinates.

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

Sets a new wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).

Arguments

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

Math::vec3 getAxis10() const#

Returns the current wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).

Return value

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

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

Sets a new wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.

Arguments

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

Math::vec3 getAxis11() const#

Returns the current wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.

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.

Last update: 16.08.2024

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Header:	#include <UniginePhysics.h>
Inherits from:	Joint

Unigine::JointWheel Class

In This Article:

Example#

See Also#

Методы:

JointWheel Class

Members

float getCurrentSlipRatio() const#

Return value

float getCurrentSlipAngle() const#

Return value

void setWheelThreshold ( float threshold ) #

Arguments

float getWheelThreshold() const#

Return value

void setWheelRadius ( float radius ) #

Arguments

float getWheelRadius() const#

Return value

void setWheelMass ( float mass ) #

Arguments

float getWheelMass() const#

Return value

void setTangentFriction ( float friction ) #

Arguments

float getTangentFriction() const#

Return value

void setTangentAngle ( float angle ) #

Arguments

float getTangentAngle() const#

Return value

void setBinormalFriction ( float friction ) #

Arguments

float getBinormalFriction() const#

Return value

void setBinormalAngle ( float angle ) #

Arguments

float getBinormalAngle() const#

Return value

void setCurrentAngularVelocity ( float velocity ) #

Arguments

float getCurrentAngularVelocity() const#

Return value

void setAngularVelocity ( float velocity ) #

Arguments

float getAngularVelocity() const#

Return value

void setAngularTorque ( float torque ) #

Arguments

float getAngularTorque() const#

Return value

void setAngularDamping ( float damping ) #

Arguments

float getAngularDamping() const#

Return value

void setCurrentLinearDistance ( float distance ) #

Arguments

float getCurrentLinearDistance() const#

Return value

void setLinearSpring ( float spring ) #

Arguments

float getLinearSpring() const#

Return value

void setLinearLimitTo ( float to ) #

Arguments

float getLinearLimitTo() const#

Return value

void setLinearLimitFrom ( float from ) #

Arguments

float getLinearLimitFrom() const#

Return value

void setLinearDistance ( float distance ) #

Arguments

float getLinearDistance() const#

Return value

void setLinearDamping ( float damping ) #

Arguments

float getLinearDamping() const#

Return value

void setPhysicsIntersectionMask ( int mask ) #