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  3. FSimpleWheelSim

FSimpleWheelSim

Wheel instance data changes during the simulation

API > API/Runtime > API/Runtime/ChaosVehiclesCore

Inheritance Hierarchy

References

   
Module ChaosVehiclesCore
Header /Engine/Source/Runtime/Experimental/ChaosVehicles/ChaosVehiclesCore/Public/WheelSystem.h
Include #include "WheelSystem.h"

Syntax

class FSimpleWheelSim : public TVehicleSystem< FSimpleWheelConfig >

Remarks

Wheel instance data changes during the simulation

Variables

  Type Name Description
Public variable bool ABSEnabled  
Public variable float AngularPosition  
Public variable float AppliedLinearBrakeForce  
Public variable float AppliedLinearDriveForce Debug for now
Public variable float AvailableGrip  
Public variable bool bABSActivated  
Public variable bool bClipping  
Public variable bool bEngineBraking  
Public variable bool bInContact  
Public variable bool BrakeEnabled  
Public variable float BrakeTorque  
Public variable float CorneringStiffness  
Public variable float DriveTorque In.
Public variable bool EngineEnabled  
Public variable float ExternalBrakeTorque  
Public variable float ExternalDriveTorque  
Public variable FSimpleWheelConfig::EExternalTorqueCombineMethod ExternalTorqueCombineMethod  
Public variable FVector ForceFromFriction  
Public variable float ForceIntoSurface  
Public variable float FrictionMultiplier  
Public variable FVector GroundVelocityVector  
Public variable bool HandbrakeEnabled  
Public variable float HandbrakeTorque  
Public variable float Inertia  
Public variable FVector InputForces  
Public variable float LateralAdhesiveLimit  
Public variable float LateralSlipGraphMultiplier  
Public variable float LongitudinalAdhesiveLimit  
Public variable float MassPerWheel  
Public variable float MaxBrakeTorque  
Public variable float MaxOmega  
Public variable float MaxSteeringAngle  
Public variable float Omega  
Public variable float Re  
Public variable float SideSlipModifier  
Public variable float SlipAngle  
Public variable float SlipVelocity  
Public variable float Spin  
Public variable float SteeringAngle  
Public variable bool SteeringEnabled  
Public variable float SurfaceFriction  
Public variable float Sx  
Public variable bool TractionControlEnabled  
Public variable uint32 WheelIndex  

Constructors

  Type Name Description
Public function  

FSimpleWheelSim ( const FSimpleWheelConfig* SetupIn
)

  

Functions

  Type Name Description
Public function Const float Get the angular position of the wheel [radians]
Public function Const float Get the angular velocity of the wheel [radians/sec]
Public function Const float Get the braking torque being applied to the wheel [N.m]
Public function Const float Get the drive torque being applied to the wheel [N.m]
Public function Const float Get the radius of the wheel [cm]
Public function Const FVector Return the calculated available friction force
Public function Static float Amount of friction we can expect after taking into account the amount the wheel slips
Public function Const float  
Public function Const float Get the current longitudinal slip value [0 no slip - using static friction, 1 full slip - using dynamic friction]
Public function Const float Get the road speed at the wheel
Public function Const float Get the effective ground speed along the lateral wheel axis positive if wheel is faster than effective ground speed, negative if wheel is slower
Public function Const float Get the slip angle for this wheel - angle between wheel forward axis and velocity vector [degrees]
Public function Const float Get the difference between the wheel speed and the effective ground speed of the vehicle at the wheel positive if wheel is faster than effective ground speed, negative if wheel is slower
Public function Const float  
Public function Const float Get the friction coefficient of the surface in contact with the wheel
Public function Const float Get the linear ground speed of the wheel based on its current rotational speed
Public function Const float Get the magnitude of the force pressing the wheel into the terrain
Public function float Get the wheel RPM [revolutions per minute]
Public function Const bool Is the wheel in contact with the terrain or another object
Public function Const bool  
Public function Const bool  
Public function Const bool  
Public function void

SetAngularPosition ( float PositionIn
)

 Set the angular position in radians
Public function void

SetAngularVelocity ( float AngularVelocityIn
)

 Set the angular position in radians/sec
Public function void

SetBrakeTorque ( float BrakeTorqueIn,
bool bEngineBrakingIn
)

 Set the braking torque - decelerating rotational force
Public function void

SetBrakeTorqueOverride ( float BrakeTorqueIn,
bool bEngineBrakingIn
)

  
Public function void

SetDriveTorque ( float EngineTorqueIn
)

 Set the drive torque - accelerating rotational force
Public function void

SetDriveTorqueOverride ( float EngineTorqueIn
)

  
Public function void

SetMassPerWheel ( float VehicleMassPerWheel
)

  
Public function void

SetMatchingSpeed ( float LinearMetersPerSecondIn
)

 Set wheel rotational speed to match the specified linear forwards speed
Public function void

SetMaxOmega ( float InMaxOmega
)

  
Public function void

SetOnGround ( bool OnGround
)

  
Public function void

SetSteeringAngle ( float InAngle
)

  
Public function void

SetSurfaceFriction ( float InFriction
)

 Set the friction coefficient of the surface under the wheel
Public function void  
Public function void Set the vehicle's speed at the wheels location in local wheel coords
Public function void

SetWheelIndex ( uint32 InIndex
)

  
Public function void

SetWheelLoadForce ( float WheelLoadForceIn
)

 Set the force pressing the wheel into the terrain - from suspension
Public function void

SetWheelRadius ( float NewRadius
)

 Set the wheel radius - can change dynamically during simulation if desired
Public function void

Simulate ( float DeltaTime
)

 Simulate - figure out wheel lateral and longitudinal forces based on available friction at the wheel Wheel load force from body weight and the surface friction together determine the grip available at the wheel DriveTorque accelerates the wheel BrakeTorque decelerates the wheel

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