Struct rapier3d::control::DynamicRayCastVehicleController

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pub struct DynamicRayCastVehicleController {
    pub current_vehicle_speed: Real,
    pub chassis: RigidBodyHandle,
    pub index_up_axis: usize,
    pub index_forward_axis: usize,
    /* private fields */
}

Expand description

A character controller to simulate vehicles using ray-casting for the wheels.

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§current_vehicle_speed: Real

The current forward speed of the vehicle.

§chassis: RigidBodyHandle

Handle of the vehicle’s chassis.

§index_up_axis: usize

The chassis’ local up direction (0 = x, 1 = y, 2 = z)

§index_forward_axis: usize

The chassis’ local forward direction (0 = x, 1 = y, 2 = z)

Implementations§

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impl DynamicRayCastVehicleController

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pub fn new(chassis: RigidBodyHandle) -> Self

Creates a new vehicle represented by the given rigid-body.

Wheels have to be attached afterwards calling Self::add_wheel.

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pub fn add_wheel( &mut self, chassis_connection_cs: Point<Real>, direction_cs: Vector<Real>, axle_cs: Vector<Real>, suspension_rest_length: Real, radius: Real, tuning: &WheelTuning ) -> &mut Wheel

Adds a wheel to this vehicle.

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pub fn update_vehicle( &mut self, dt: Real, bodies: &mut RigidBodySet, colliders: &ColliderSet, queries: &QueryPipeline, filter: QueryFilter<'_> )

Updates the vehicle’s velocity based on its suspension, engine force, and brake.

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pub fn wheels(&self) -> &[Wheel]

Reference to all the wheels attached to this vehicle.

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pub fn wheels_mut(&mut self) -> &mut [Wheel]

Mutable reference to all the wheels attached to this vehicle.

Auto Trait Implementations§

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impl UnwindSafe for DynamicRayCastVehicleController

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