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WheelState

proof_engine::editor::physics_editor

Struct WheelState 

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pub struct WheelState {
Show 24 fields
    pub position_local: Vec3,
    pub radius: f32,
    pub width: f32,
    pub suspension_rest_length: f32,
    pub suspension_max_travel: f32,
    pub suspension_stiffness: f32,
    pub suspension_damping: f32,
    pub current_compression: f32,
    pub suspension_force: f32,
    pub contact_point: Vec3,
    pub contact_normal: Vec3,
    pub is_grounded: bool,
    pub slip_angle: f32,
    pub slip_ratio: f32,
    pub lateral_force: f32,
    pub longitudinal_force: f32,
    pub steer_angle: f32,
    pub angular_velocity: f32,
    pub brake_torque: f32,
    pub drive_torque: f32,
    pub friction_limit: f32,
    pub rolling_resistance: f32,
    pub camber_angle: f32,
    pub road_surface: SurfaceType,

}

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§position_local: Vec3§radius: f32§width: f32§suspension_rest_length: f32§suspension_max_travel: f32§suspension_stiffness: f32§suspension_damping: f32§current_compression: f32§suspension_force: f32§contact_point: Vec3§contact_normal: Vec3§is_grounded: bool§slip_angle: f32§slip_ratio: f32§lateral_force: f32§longitudinal_force: f32§steer_angle: f32§angular_velocity: f32§brake_torque: f32§drive_torque: f32§friction_limit: f32§rolling_resistance: f32§camber_angle: f32§road_surface: SurfaceType

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impl WheelState

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pub fn new(position_local: Vec3, radius: f32) -> Self

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pub fn compute_suspension_force(&mut self, compression_velocity: f32) -> f32

Compute suspension force using spring-damper model F_susp = k * compression + c * compression_velocity

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pub fn compute_tire_forces(&mut self, normal_force: f32, surface_friction: f32)

Compute tire forces using Pacejka model

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pub fn compute_slip_angle(&mut self, wheel_vel_local: Vec3)

Compute slip angle from wheel velocity in local frame

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pub fn compute_slip_ratio(&mut self, vehicle_speed: f32)

Compute longitudinal slip ratio

Trait Implementations§

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impl Clone for WheelState

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fn clone(&self) -> Self

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for WheelState

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

Formats the value using the given formatter. Read more

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