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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JointWheel ( ) #

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

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.

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.

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.