Struct rapier3d::control::DynamicRayCastVehicleController

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

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

Fields

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

impl DynamicRayCastVehicleController

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.

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.

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.

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

Reference to all the wheels attached to this vehicle.

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

Mutable reference to all the wheels attached to this vehicle.