Skip to main content

PyVehicle

oxiphysics_python::vehicle_api

Struct PyVehicle

pub struct PyVehicle {Show 15 fields
    pub mass: f64,
    pub inertia: [f64; 3],
    pub cog_height: f64,
    pub position: [f64; 3],
    pub velocity: [f64; 3],
    pub orientation: [f64; 3],
    pub angular_velocity: [f64; 3],
    pub wheels: [PyWheelDynamics; 4],
    pub wheel_positions: [[f64; 3]; 4],
    pub suspensions: [PySuspension; 4],
    pub tires: [PyTireModel; 4],
    pub drivetrain: PyDrivetrain,
    pub steering: PySteering,
    pub stability: PyStabilityControl,
    pub gear_display: u32,
}

Expand description

Full vehicle state.

Fields§

§mass: f64

Chassis mass (kg).

§inertia: [f64; 3]

Inertia tensor diagonal [Ixx, Iyy, Izz] (kg·m²).

§cog_height: f64

Center of mass height (m).

§position: [f64; 3]

World position of chassis center [x, y, z].

§velocity: [f64; 3]

Velocity [vx, vy, vz] in world frame.

§orientation: [f64; 3]

Euler angles [roll, pitch, yaw] (rad).

§angular_velocity: [f64; 3]

Angular velocity [wx, wy, wz] (rad/s).

§wheels: [PyWheelDynamics; 4]

Wheels: [FL, FR, RL, RR].

§wheel_positions: [[f64; 3]; 4]

Wheel positions in local frame [FL, FR, RL, RR].

§suspensions: [PySuspension; 4]

Suspensions [FL, FR, RL, RR].

§tires: [PyTireModel; 4]

Tire models [FL, FR, RL, RR].

§drivetrain: PyDrivetrain

Drivetrain.

§steering: PySteering

Steering system.

§stability: PyStabilityControl

Stability control.

§gear_display: u32

Current gear as display number (1-indexed).

Implementations§

impl PyVehicle

pub fn sedan() -> Self

Create a default sedan-like vehicle.

pub fn racing_car() -> Self

Create a racing car vehicle.

pub fn forward_speed(&self) -> f64

Get the forward speed (m/s).

pub fn step(&mut self, dt: f64, throttle: f64, brake: f64, steer: f64)

Perform one simulation step.

dt — time step (s) throttle — throttle input [0, 1] brake — brake input [0, 1] steer — steering input [-1, 1]

Trait Implementations§

impl Clone for PyVehicle

fn clone(&self) -> PyVehicle

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 PyVehicle

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

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for PyVehicle

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 PyVehicle

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 PyVehicle

impl RefUnwindSafe for PyVehicle

impl Send for PyVehicle

impl Sync for PyVehicle

impl Unpin for PyVehicle

impl UnsafeUnpin for PyVehicle

impl UnwindSafe for PyVehicle

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>,