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PyWheelDynamics

oxiphysics_python::vehicle_api

Struct PyWheelDynamics

pub struct PyWheelDynamics {
    pub omega: f64,
    pub inertia: f64,
    pub radius: f64,
    pub slip_ratio: f64,
    pub slip_angle: f64,
    pub camber: f64,
    pub toe: f64,
    pub fx: f64,
    pub fy: f64,
    pub fz: f64,
    pub grounded: bool,
}

Expand description

State and forces at a single wheel.

Fields§

§omega: f64

Wheel angular velocity (rad/s).

§inertia: f64

Wheel moment of inertia (kg·m²).

§radius: f64

Effective rolling radius (m).

§slip_ratio: f64

Current slip ratio.

§slip_angle: f64

Current slip angle (rad).

§camber: f64

Camber angle (rad, positive = lean toward vehicle center).

§toe: f64

Toe angle (rad).

§fx: f64

Longitudinal force at the contact patch (N).

§fy: f64

Lateral force at the contact patch (N).

§fz: f64

Normal load (N).

§grounded: bool

Whether the wheel is on the ground.

Implementations§

impl PyWheelDynamics

pub fn new(inertia: f64, radius: f64) -> Self

Create a new wheel with given inertia and radius.

pub fn step_omega(&mut self, drive_torque: f64, brake_torque: f64, dt: f64)

Update wheel angular velocity given applied torque and time step.

pub fn peripheral_speed(&self) -> f64

Peripheral speed of the tire.

Trait Implementations§

impl Clone for PyWheelDynamics

fn clone(&self) -> PyWheelDynamics

Returns a duplicate of the value. Read more

1.0.0 · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl Debug for PyWheelDynamics

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for PyWheelDynamics

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

impl Serialize for PyWheelDynamics

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

Auto Trait Implementations§

impl Freeze for PyWheelDynamics

impl RefUnwindSafe for PyWheelDynamics

impl Send for PyWheelDynamics

impl Sync for PyWheelDynamics

impl Unpin for PyWheelDynamics

impl UnsafeUnpin for PyWheelDynamics

impl UnwindSafe for PyWheelDynamics

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,