Struct rapier3d::control::Wheel

pub struct Wheel {

    pub chassis_connection_point_cs: Point<Real>,
    pub direction_cs: Vector<Real>,
    pub axle_cs: Vector<Real>,
    pub suspension_rest_length: Real,
    pub max_suspension_travel: Real,
    pub radius: Real,
    pub suspension_stiffness: Real,
    pub damping_compression: Real,
    pub damping_relaxation: Real,
    pub friction_slip: Real,
    pub side_friction_stiffness: Real,
    pub rotation: Real,
    pub max_suspension_force: Real,
    pub forward_impulse: Real,
    pub side_impulse: Real,
    pub steering: Real,
    pub engine_force: Real,
    pub brake: Real,
    pub wheel_suspension_force: Real,
    /* private fields */
}

A wheel attached to a vehicle.

Fields

chassis_connection_point_cs: Point<Real>

The position of the wheel, relative to the chassis.

direction_cs: Vector<Real>

The direction of the wheel’s suspension, relative to the chassis.

The ray-casting will happen following this direction to detect the ground.

axle_cs: Vector<Real>

The wheel’s axle axis, relative to the chassis.

suspension_rest_length: Real

The rest length of the wheel’s suspension spring.

max_suspension_travel: Real

The maximum distance the suspension can travel before and after its resting length.

radius: Real

The wheel’s radius.

suspension_stiffness: Real

The suspension stiffness.

Increase this value if the suspension appears to not push the vehicle strong enough.

damping_compression: Real

The suspension’s damping when it is being compressed.

damping_relaxation: Real

The suspension’s damping when it is being released.

Increase this value if the suspension appears to overshoot.

friction_slip: Real

Parameter controlling how much traction the tire has.

The larger the value, the more instantaneous braking will happen (with the risk of causing the vehicle to flip if it’s too strong).

side_friction_stiffness: Real

The multiplier of friction between a tire and the collider it’s on top of.

rotation: Real

The wheel’s current rotation on its axle.

max_suspension_force: Real

The maximum force applied by the suspension.

forward_impulse: Real

The forward impulses applied by the wheel on the chassis.

side_impulse: Real

The side impulses applied by the wheel on the chassis.

steering: Real

The steering angle for this wheel.

engine_force: Real

The forward force applied by this wheel on the chassis.

brake: Real

The maximum amount of braking impulse applied to slow down the vehicle.

wheel_suspension_force: Real

The force applied by the suspension.

Implementations

impl Wheel

pub fn raycast_info(&self) -> &RayCastInfo

Information about suspension and the ground obtained from the ray-casting for this wheel.

pub fn center(&self) -> Point<Real>

The world-space center of the wheel.

pub fn suspension(&self) -> Vector<Real>

The world-space direction of the wheel’s suspension.

pub fn axle(&self) -> Vector<Real>

The world-space direction of the wheel’s axle.

Trait Implementations

impl Clone for Wheel

fn clone(&self) -> Wheel

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Wheel

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

Formats the value using the given formatter.

impl PartialEq for Wheel

fn eq(&self, other: &Wheel) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for Wheel

impl StructuralPartialEq for Wheel