Panda3D
Public Member Functions | Static Public Member Functions | List of all members
PhysxWheelShape Class Reference

A special shape used for simulating a car wheel. More...

#include "physxWheelShape.h"

Inheritance diagram for PhysxWheelShape:
PhysxShape PhysxObject PhysxEnums TypedReferenceCount TypedObject ReferenceCount MemoryBase MemoryBase

Public Member Functions

virtual TypeHandle force_init_type ()
 
float get_axle_speed () const
 Retrieves the current axle rotation speed. More...
 
float get_brake_torque () const
 Must be nonnegative. More...
 
float get_inverse_wheel_mass () const
 Returns the inverse mass of the wheel. More...
 
float get_motor_torque () const
 Retrieves the sum engine torque on the wheel axle. More...
 
float get_radius () const
 Returns the radius of the sphere. More...
 
float get_steer_angle () const
 Retrieves the steering angle, around shape Y axis. More...
 
float get_steer_angle_rad () const
 Retrieves the steering angle, around shape Y axis. More...
 
float get_suspension_travel () const
 Returns the suspension travel. More...
 
virtual TypeHandle get_type () const
 
bool get_wheel_flag (PhysxWheelShapeFlag flag) const
 Returns the value of the specified wheel shape flag. More...
 
void link (NxShape *shapePtr)
 
NxShape * ptr () const
 
void save_to_desc (PhysxWheelShapeDesc &shapeDesc) const
 Saves the state of the shape object to a descriptor. More...
 
void set_axle_speed (float speed)
 Set the current axle rotation speed. More...
 
void set_brake_torque (float torque)
 Must be nonnegative. More...
 
void set_inverse_wheel_mass (float invMass)
 Set the inverse mass of the wheel. More...
 
void set_motor_torque (float torque)
 Set the sum engine torque on the wheel axle. More...
 
void set_radius (float radius)
 Sets the sphere radius. More...
 
void set_steer_angle (float angle)
 Set the steering angle, around shape Y axis. More...
 
void set_steer_angle_rad (float angle)
 Set the steering angle, around shape Y axis. More...
 
void set_suspension (const PhysxSpringDesc &spring)
 Set the data intended for car wheel suspension effects. More...
 
void set_suspension_travel (float travel)
 Set the maximum extension distance of suspension along shape's -Y axis. More...
 
void set_wheel_flag (PhysxWheelShapeFlag flag, bool value)
 Turns the specified wheel shape flag on or off. More...
 
void unlink ()
 
- Public Member Functions inherited from PhysxShape
bool check_overlap_aabb (const PhysxBounds3 &world_bounds) const
 Checks whether the shape overlaps a world-space AABB or not. More...
 
bool check_overlap_capsule (const PhysxCapsule &world_capsule) const
 Checks whether the shape overlaps a world-space capsule or not. More...
 
bool check_overlap_obb (const PhysxBox &world_box) const
 Checks whether the shape overlaps a world-space OBB or not. More...
 
bool check_overlap_sphere (const PhysxSphere &world_sphere) const
 Checks whether the shape overlaps a world-space sphere or not. More...
 
PhysxActorget_actor () const
 Retrieves the actor which this shape is associated with. More...
 
PhysxCcdSkeletonget_ccd_skeleton () const
 
bool get_flag (const PhysxShapeFlag flag) const
 Returns the specified shape flag. More...
 
unsigned short get_group () const
 Retrieves the collision group set for this shape. More...
 
PhysxGroupsMask get_groups_mask () const
 Gets 128-bit mask used for collision filtering. More...
 
LMatrix4f get_local_mat () const
 Retrieve the transform of the shape in actor space, i.e. More...
 
LPoint3f get_local_pos () const
 Retrieve the position of the shape in actor space, i.e. More...
 
unsigned short get_material_index () const
 Returns the material index currently assigned to the shape. More...
 
const char * get_name () const
 Returns the name string. More...
 
float get_skin_width () const
 Returns the skin width. More...
 
PhysxBounds3 get_world_bounds () const
 Returns a world space AABB enclosing this shape. More...
 
void ls () const
 
void ls (std::ostream &out, int indent_level=0) const
 
PhysxRaycastHit raycast (const PhysxRay &worldRay, bool firstHit, bool smoothNormal) const
 
void release ()
 
void set_ccd_skeleton (PhysxCcdSkeleton *skel)
 
void set_flag (const PhysxShapeFlag flag, bool value)
 Sets the specified shape flag. More...
 
void set_group (unsigned short group)
 Sets which collision group this shape is part of. More...
 
void set_groups_mask (const PhysxGroupsMask &mask)
 Sets 128-bit mask used for collision filtering. More...
 
void set_local_mat (const LMatrix4f &mat)
 Set the transform of the shape in actor space, i.e. More...
 
void set_local_pos (const LPoint3f &pos)
 Set the position of the shape in actor space, i.e. More...
 
void set_material (const PhysxMaterial &material)
 Assigns a material to the shape. More...
 
void set_material_index (unsigned short idx)
 Assigns a material index to the shape. More...
 
void set_name (const char *name)
 Sets a name string for this object. More...
 
void set_skin_width (float skinWidth)
 Sets the skin width. More...
 
- Public Member Functions inherited from TypedReferenceCount
 TypedReferenceCount (const TypedReferenceCount &copy)
 
void operator= (const TypedReferenceCount &copy)
 
- Public Member Functions inherited from TypedObject
 TypedObject (const TypedObject &copy)=default
 
TypedObjectas_typed_object ()
 Returns the object, upcast (if necessary) to a TypedObject pointer. More...
 
const TypedObjectas_typed_object () const
 Returns the object, upcast (if necessary) to a TypedObject pointer. More...
 
int get_best_parent_from_Set (const std::set< int > &) const
 
int get_type_index () const
 Returns the internal index number associated with this object's TypeHandle, a unique number for each different type. More...
 
bool is_exact_type (TypeHandle handle) const
 Returns true if the current object is the indicated type exactly. More...
 
bool is_of_type (TypeHandle handle) const
 Returns true if the current object is or derives from the indicated type. More...
 
TypedObjectoperator= (const TypedObject &copy)=default
 
- Public Member Functions inherited from ReferenceCount
int get_ref_count () const
 
WeakReferenceListget_weak_list () const
 Returns the WeakReferenceList associated with this ReferenceCount object. More...
 
bool has_weak_list () const
 Returns true if this particular ReferenceCount object has a WeakReferenceList created, false otherwise. More...
 
void local_object ()
 This function should be called, once, immediately after creating a new instance of some ReferenceCount-derived object on the stack. More...
 
void ref () const
 Explicitly increments the reference count. More...
 
bool ref_if_nonzero () const
 Atomically increases the reference count of this object if it is not zero. More...
 
bool test_ref_count_integrity () const
 Does some easy checks to make sure that the reference count isn't completely bogus. More...
 
bool test_ref_count_nonzero () const
 Does some easy checks to make sure that the reference count isn't zero, or completely bogus. More...
 
virtual bool unref () const
 Explicitly decrements the reference count. More...
 
WeakReferenceListweak_ref ()
 Adds the indicated PointerToVoid as a weak reference to this object. More...
 
void weak_unref ()
 Removes the indicated PointerToVoid as a weak reference to this object. More...
 

Static Public Member Functions

static TypeHandle get_class_type ()
 
static void init_type ()
 
- Static Public Member Functions inherited from PhysxShape
static PhysxShapefactory (NxShapeType shapeType)
 
static TypeHandle get_class_type ()
 
static void init_type ()
 
- Static Public Member Functions inherited from PhysxObject
static TypeHandle get_class_type ()
 
static void init_type ()
 
- Static Public Member Functions inherited from TypedReferenceCount
static TypeHandle get_class_type ()
 
static void init_type ()
 
- Static Public Member Functions inherited from TypedObject
static TypeHandle get_class_type ()
 
static void init_type ()
 This function is declared non-inline to work around a compiler bug in g++ 2.96. More...
 
- Static Public Member Functions inherited from ReferenceCount
static TypeHandle get_class_type ()
 
static void init_type ()
 

Additional Inherited Members

- Public Types inherited from PhysxEnums
enum  PhysxActorFlag {
  AF_disable_collision = NX_AF_DISABLE_COLLISION, AF_disable_response = NX_AF_DISABLE_RESPONSE, AF_lock_com = NX_AF_LOCK_COM, AF_fluid_disable_collision = NX_AF_FLUID_DISABLE_COLLISION,
  AF_contact_modification = NX_AF_CONTACT_MODIFICATION, AF_force_cone_friction = NX_AF_FORCE_CONE_FRICTION, AF_user_actor_pair_filtering = NX_AF_USER_ACTOR_PAIR_FILTERING
}
 
enum  PhysxBodyFlag {
  BF_disable_gravity = NX_BF_DISABLE_GRAVITY, Bf_frozen_pos_x = NX_BF_FROZEN_POS_X, BF_frozen_pos_y = NX_BF_FROZEN_POS_Y, BF_frozen_pos_z = NX_BF_FROZEN_POS_Z,
  BF_frozen_rot_x = NX_BF_FROZEN_ROT_X, BF_frozen_rot_y = NX_BF_FROZEN_ROT_Y, BF_frozen_rot_z = NX_BF_FROZEN_ROT_Z, BF_frozen_pos = NX_BF_FROZEN_POS,
  BF_frozen_rot = NX_BF_FROZEN_ROT, BF_frozen = NX_BF_FROZEN, BF_kinematic = NX_BF_KINEMATIC, BF_visualization = NX_BF_VISUALIZATION,
  BF_filter_sleep_vel = NX_BF_FILTER_SLEEP_VEL, BF_energy_sleep_test = NX_BF_ENERGY_SLEEP_TEST
}
 
enum  PhysxBroadPhaseType { BPT_sap_single = NX_BP_TYPE_SAP_SINGLE, BPT_sap_multi = NX_BP_TYPE_SAP_MULTI }
 
enum  PhysxClothFlag {
  CLF_pressure = NX_CLF_PRESSURE, CLF_static = NX_CLF_STATIC, CLF_disable_collision = NX_CLF_DISABLE_COLLISION, CLF_selfcollision = NX_CLF_SELFCOLLISION,
  CLF_visualization = NX_CLF_VISUALIZATION, CLF_gravity = NX_CLF_GRAVITY, CLF_bending = NX_CLF_BENDING, CLF_bending_ortho = NX_CLF_BENDING_ORTHO,
  CLF_damping = NX_CLF_DAMPING, CLF_collision_twoway = NX_CLF_COLLISION_TWOWAY, CLF_triangle_collision = NX_CLF_TRIANGLE_COLLISION, CLF_tearable = NX_CLF_TEARABLE,
  CLF_hardware = NX_CLF_HARDWARE, CLF_comdamping = NX_CLF_COMDAMPING, CLF_validbounds = NX_CLF_VALIDBOUNDS, CLF_fluid_collision = NX_CLF_FLUID_COLLISION,
  CLF_disable_dynamic_ccd = NX_CLF_DISABLE_DYNAMIC_CCD, CLF_adhere = NX_CLF_ADHERE
}
 
enum  PhysxCombineMode { CM_average = NX_CM_AVERAGE, CM_min = NX_CM_MIN, CM_multiply = NX_CM_MULTIPLY, CM_max = NX_CM_MAX }
 
enum  PhysxContactPairFlag {
  CPF_ignore_pair = NX_IGNORE_PAIR, CPF_notify_on_start_touch = NX_NOTIFY_ON_START_TOUCH, CPF_notify_on_end_touch = NX_NOTIFY_ON_END_TOUCH, CPF_notify_on_touch = NX_NOTIFY_ON_TOUCH,
  CPF_notify_on_impact = NX_NOTIFY_ON_IMPACT, CPF_notify_on_roll = NX_NOTIFY_ON_ROLL, CPF_notify_on_slide = NX_NOTIFY_ON_SLIDE, CPF_notify_forces = NX_NOTIFY_FORCES,
  CPF_notify_on_start_touch_threshold = NX_NOTIFY_ON_START_TOUCH_FORCE_THRESHOLD, CPF_notify_on_end_touch_threshold = NX_NOTIFY_ON_END_TOUCH_FORCE_THRESHOLD, CPF_notify_on_touch_threshold = NX_NOTIFY_ON_TOUCH_FORCE_THRESHOLD, CPF_notify_contact_modifications = NX_NOTIFY_CONTACT_MODIFICATION
}
 
enum  PhysxD6JointDriveType { D6_joint_drive_position = NX_D6JOINT_DRIVE_POSITION, D6_joint_drive_velocity = NX_D6JOINT_DRIVE_VELOCITY }
 
enum  PhysxD6JointFlag { D6_joint_slerp_drive = NX_D6JOINT_SLERP_DRIVE, D6_joint_gear_disabled = NX_D6JOINT_GEAR_ENABLED }
 
enum  PhysxD6JointMotion { D6_joint_motion_locked = NX_D6JOINT_MOTION_LOCKED, D6_joint_motion_limited = NX_D6JOINT_MOTION_LIMITED, D6_joint_motion_free = NX_D6JOINT_MOTION_FREE }
 
enum  PhysxDistanceJointFlag { DJF_max_distance_enabled = NX_DJF_MAX_DISTANCE_ENABLED, DJF_mix_distance_enabled = NX_DJF_MIN_DISTANCE_ENABLED, DJF_spring_enabled = NX_DJF_SPRING_ENABLED }
 
enum  PhysxFilterOp {
  FO_and = NX_FILTEROP_AND, FO_or = NX_FILTEROP_OR, FO_xor = NX_FILTEROP_XOR, FO_nand = NX_FILTEROP_NAND,
  FO_nor = NX_FILTEROP_NOR, FO_nxor = NX_FILTEROP_NXOR, FO_swap_and = NX_FILTEROP_SWAP_AND
}
 
enum  PhysxForceFieldCoordinates { FFC_cartesian, FFC_spherical, FFC_cylindrical, FFC_toroidal }
 
enum  PhysxForceFieldShapeGroupFlag { FFSG_exclude_group = NX_FFSG_EXCLUDE_GROUP }
 
enum  PhysxForceMode {
  FM_force = NX_FORCE, FM_impulse = NX_IMPULSE, FM_velocity_change = NX_VELOCITY_CHANGE, FM_smooth_impulse = NX_SMOOTH_IMPULSE,
  FM_smooth_velocity_change = NX_SMOOTH_VELOCITY_CHANGE, FM_acceleration = NX_ACCELERATION
}
 
enum  PhysxJointFlag { JF_collision_enabled = NX_JF_COLLISION_ENABLED, JF_visualization = NX_JF_VISUALIZATION }
 
enum  PhysxMaterialFlag { MF_anisotropic = NX_MF_ANISOTROPIC, MF_disable_friction = NX_MF_DISABLE_FRICTION, MF_disable_strong_friction = NX_MF_DISABLE_STRONG_FRICTION }
 
enum  PhysxParameter {
  P_penalty_force = NX_PENALTY_FORCE, P_skin_width = NX_SKIN_WIDTH, P_default_sleep_lin_vel_squared = NX_DEFAULT_SLEEP_LIN_VEL_SQUARED, P_default_sleep_ang_vel_squared = NX_DEFAULT_SLEEP_ANG_VEL_SQUARED,
  P_bounce_threshold = NX_BOUNCE_THRESHOLD, P_dyn_frict_scaling = NX_DYN_FRICT_SCALING, P_sta_frict_scaling = NX_STA_FRICT_SCALING, P_max_angular_velocity = NX_MAX_ANGULAR_VELOCITY,
  P_continuous_cd = NX_CONTINUOUS_CD, P_visualization_scale = NX_VISUALIZATION_SCALE, P_adaptive_force = NX_ADAPTIVE_FORCE, P_coll_veta_jointed = NX_COLL_VETO_JOINTED,
  P_trigger_trigger_callback = NX_TRIGGER_TRIGGER_CALLBACK, P_select_hw_algo = NX_SELECT_HW_ALGO, P_ccd_epsilon = NX_CCD_EPSILON, P_solver_convergence_threshold = NX_SOLVER_CONVERGENCE_THRESHOLD,
  P_bbox_noise_level = NX_BBOX_NOISE_LEVEL, P_implicit_sweep_cache_size = NX_IMPLICIT_SWEEP_CACHE_SIZE, P_default_sleep_energy = NX_DEFAULT_SLEEP_ENERGY, P_constant_fluid_max_packets = NX_CONSTANT_FLUID_MAX_PACKETS,
  P_constant_fluid_max_particles_per_step = NX_CONSTANT_FLUID_MAX_PARTICLES_PER_STEP, P_asynchronous_mesh_creation = NX_ASYNCHRONOUS_MESH_CREATION, P_force_field_custom_kernel_epsilon = NX_FORCE_FIELD_CUSTOM_KERNEL_EPSILON, P_improved_spring_solver = NX_IMPROVED_SPRING_SOLVER,
  P_visualize_world_axes = NX_VISUALIZE_WORLD_AXES, P_visualize_body_axes = NX_VISUALIZE_BODY_AXES, P_visualize_body_mass_axes = NX_VISUALIZE_BODY_MASS_AXES, P_visualize_body_lin_velocity = NX_VISUALIZE_BODY_LIN_VELOCITY,
  P_visualize_body_ang_velocity = NX_VISUALIZE_BODY_ANG_VELOCITY, P_visualize_body_joint_groups = NX_VISUALIZE_BODY_JOINT_GROUPS, P_visualize_joint_local_axes = NX_VISUALIZE_JOINT_LOCAL_AXES, P_visualize_joint_world_axes = NX_VISUALIZE_JOINT_WORLD_AXES,
  P_visualize_joint_limits = NX_VISUALIZE_JOINT_LIMITS, P_visualize_contact_point = NX_VISUALIZE_CONTACT_POINT, P_visualize_contact_normal = NX_VISUALIZE_CONTACT_NORMAL, P_visualize_contact_error = NX_VISUALIZE_CONTACT_ERROR,
  P_visualize_contact_force = NX_VISUALIZE_CONTACT_FORCE, P_visualize_actor_axes = NX_VISUALIZE_ACTOR_AXES, P_visualize_collision_aabbs = NX_VISUALIZE_COLLISION_AABBS, P_visualize_collision_shapes = NX_VISUALIZE_COLLISION_SHAPES,
  P_visualize_collision_axes = NX_VISUALIZE_COLLISION_AXES, P_visualize_collision_compounds = NX_VISUALIZE_COLLISION_COMPOUNDS, P_visualize_collision_vnormals = NX_VISUALIZE_COLLISION_VNORMALS, P_visualize_collision_fnormals = NX_VISUALIZE_COLLISION_FNORMALS,
  P_visualize_collision_edges = NX_VISUALIZE_COLLISION_EDGES, P_visualize_collision_spheres = NX_VISUALIZE_COLLISION_SPHERES, P_visualize_collision_static = NX_VISUALIZE_COLLISION_STATIC, P_visualize_collision_dynamic = NX_VISUALIZE_COLLISION_DYNAMIC,
  P_visualize_collision_free = NX_VISUALIZE_COLLISION_FREE, P_visualize_collision_ccd = NX_VISUALIZE_COLLISION_CCD, P_visualize_collision_skeletons = NX_VISUALIZE_COLLISION_SKELETONS, P_visualize_fluid_emitters = NX_VISUALIZE_FLUID_EMITTERS,
  P_visualize_fluid_position = NX_VISUALIZE_FLUID_POSITION, P_visualize_fluid_velocity = NX_VISUALIZE_FLUID_VELOCITY, P_visualize_fluid_kernel_radius = NX_VISUALIZE_FLUID_KERNEL_RADIUS, P_visualize_fluid_bounds = NX_VISUALIZE_FLUID_BOUNDS,
  P_visualize_fluid_packets = NX_VISUALIZE_FLUID_PACKETS, P_visualize_fluid_motion_limit = NX_VISUALIZE_FLUID_MOTION_LIMIT, P_visualize_fluid_dyn_collision = NX_VISUALIZE_FLUID_DYN_COLLISION, P_visualize_fluid_stc_collision = NX_VISUALIZE_FLUID_STC_COLLISION,
  P_visualize_fluid_mesh_packets = NX_VISUALIZE_FLUID_MESH_PACKETS, P_visualize_fluid_drains = NX_VISUALIZE_FLUID_DRAINS, P_visualize_fluid_packet_data = NX_VISUALIZE_FLUID_PACKET_DATA, P_visualize_cloth_mesh = NX_VISUALIZE_CLOTH_MESH,
  P_visualize_cloth_collisions = NX_VISUALIZE_CLOTH_COLLISIONS, P_visualize_cloth_selfcollisions = NX_VISUALIZE_CLOTH_SELFCOLLISIONS, P_visualize_cloth_workpackets = NX_VISUALIZE_CLOTH_WORKPACKETS, P_visualize_cloth_sleep = NX_VISUALIZE_CLOTH_SLEEP,
  P_visualize_cloth_sleep_vertex = NX_VISUALIZE_CLOTH_SLEEP_VERTEX, P_visualize_cloth_tearable_vertices = NX_VISUALIZE_CLOTH_TEARABLE_VERTICES, P_visualize_cloth_tearing = NX_VISUALIZE_CLOTH_TEARING, P_visualize_cloth_attachment = NX_VISUALIZE_CLOTH_ATTACHMENT,
  P_visualize_cloth_validbounds = NX_VISUALIZE_CLOTH_VALIDBOUNDS, P_visualize_softbody_mesh = NX_VISUALIZE_SOFTBODY_MESH, P_visualize_softbody_collisions = NX_VISUALIZE_SOFTBODY_COLLISIONS, P_visualize_softbody_workpackets = NX_VISUALIZE_SOFTBODY_WORKPACKETS,
  P_visualize_softbody_sleep = NX_VISUALIZE_SOFTBODY_SLEEP, P_visualize_softbody_sleep_vertex = NX_VISUALIZE_SOFTBODY_SLEEP_VERTEX, P_visualize_softbody_tearable_vertices = NX_VISUALIZE_SOFTBODY_TEARABLE_VERTICES, P_visualize_softbody_tearing = NX_VISUALIZE_SOFTBODY_TEARING,
  P_visualize_softbody_attachment = NX_VISUALIZE_SOFTBODY_ATTACHMENT, P_visualize_softbody_validbounds = NX_VISUALIZE_SOFTBODY_VALIDBOUNDS, P_visualize_active_vertices = NX_VISUALIZE_ACTIVE_VERTICES, P_visualize_force_fields = NX_VISUALIZE_FORCE_FIELDS
}
 
enum  PhysxProjectionMode { PM_none = NX_JPM_NONE, PM_point_mindist = NX_JPM_POINT_MINDIST, PM_linear_mindist = NX_JPM_LINEAR_MINDIST }
 
enum  PhysxPruningStructure {
  PS_none = NX_PRUNING_NONE, PS_octree = NX_PRUNING_OCTREE, PS_quadtree = NX_PRUNING_QUADTREE, PS_dynamic_aabb_tree = NX_PRUNING_DYNAMIC_AABB_TREE,
  PS_static_aabb_tree = NX_PRUNING_STATIC_AABB_TREE
}
 
enum  PhysxPulleyJointFlag { PJF_is_rigid = NX_PJF_IS_RIGID, PJF_motor_enabled = NX_PJF_MOTOR_ENABLED }
 
enum  PhysxRevoluteJointFlag { RJF_limit_enabled = NX_RJF_LIMIT_ENABLED, RJF_motor_enabled = NX_RJF_MOTOR_ENABLED, RJF_spring_enabled = NX_RJF_SPRING_ENABLED }
 
enum  PhysxSceneFlag {
  SF_disable_sse = NX_SF_DISABLE_SSE, SF_disable_collisions = NX_SF_DISABLE_COLLISIONS, SF_restricted_scene = NX_SF_RESTRICTED_SCENE, SF_disable_scene_mutex = NX_SF_DISABLE_SCENE_MUTEX,
  SF_force_cone_friction = NX_SF_FORCE_CONE_FRICTION, SF_sequential_primary = NX_SF_SEQUENTIAL_PRIMARY, SF_fluid_performance_hint = NX_SF_FLUID_PERFORMANCE_HINT
}
 
enum  PhysxShapeFlag {
  SF_trigger_on_enter = NX_TRIGGER_ON_ENTER, SF_trigger_on_leave = NX_TRIGGER_ON_LEAVE, SF_trigger_on_stay = NX_TRIGGER_ON_STAY, SF_trigger_enable = NX_TRIGGER_ENABLE,
  SF_visualization = NX_SF_VISUALIZATION, SF_disable_collision = NX_SF_DISABLE_COLLISION, SF_disable_raycasting = NX_SF_DISABLE_RAYCASTING, SF_disable_response = NX_SF_DISABLE_RESPONSE,
  SF_disable_scene_queries = NX_SF_DISABLE_SCENE_QUERIES, SF_point_contact_force = NX_SF_POINT_CONTACT_FORCE, SF_feature_indices = NX_SF_FEATURE_INDICES, SF_dynamic_dynamic_ccd = NX_SF_DYNAMIC_DYNAMIC_CCD,
  SF_fluid_drain = NX_SF_FLUID_DRAIN, SF_fluid_disable_collision = NX_SF_FLUID_DISABLE_COLLISION, SF_fluid_twoway = NX_SF_FLUID_TWOWAY, SF_cloth_drain = NX_SF_CLOTH_DRAIN,
  SF_cloth_disable_collision = NX_SF_CLOTH_DISABLE_COLLISION, SF_cloth_twoway = NX_SF_CLOTH_TWOWAY, SF_softbody_drain = NX_SF_SOFTBODY_DRAIN, SF_softbody_disable_collision = NX_SF_SOFTBODY_DISABLE_COLLISION,
  SF_softbody_twoway = NX_SF_SOFTBODY_TWOWAY
}
 
enum  PhysxShapesType { ST_static = NX_STATIC_SHAPES, ST_dynamic = NX_DYNAMIC_SHAPES, ST_all = NX_ALL_SHAPES }
 
enum  PhysxSoftBodyFlag {
  SBF_static = NX_SBF_STATIC, SBF_disable_collision = NX_SBF_DISABLE_COLLISION, SBF_selfcollision = NX_SBF_SELFCOLLISION, SBF_visualization = NX_SBF_VISUALIZATION,
  SBF_gravity = NX_SBF_GRAVITY, SBF_volume_conservtion = NX_SBF_VOLUME_CONSERVATION, SBF_damping = NX_SBF_DAMPING, SBF_collision_twoway = NX_SBF_COLLISION_TWOWAY,
  SBF_tearable = NX_SBF_TEARABLE, SBF_hardware = NX_SBF_HARDWARE, SBF_comdamping = NX_SBF_COMDAMPING, SBF_validbounds = NX_SBF_VALIDBOUNDS,
  SBF_fluid_collision = NX_SBF_FLUID_COLLISION, SBF_disable_dynamic_ccd = NX_SBF_DISABLE_DYNAMIC_CCD, SBF_adhere = NX_SBF_ADHERE
}
 
enum  PhysxSphericalJointFlag {
  SJF_twist_limit_enabled = NX_SJF_TWIST_LIMIT_ENABLED, SJF_swing_limit_enabled = NX_SJF_SWING_LIMIT_ENABLED, SJF_twist_spring_enabled = NX_SJF_TWIST_SPRING_ENABLED, SJF_swing_spring_enabled = NX_SJF_SWING_SPRING_ENABLED,
  SJF_joint_spring_enabled = NX_SJF_JOINT_SPRING_ENABLED, SJF_perpendicular_dir_constraints = NX_SJF_PERPENDICULAR_DIR_CONSTRAINTS
}
 
enum  PhysxUpAxis { X_up = NX_X, Y_up = NX_Y, Z_up = NX_Z }
 
enum  PhysxVertexAttachmentStatus { VAS_none = NX_CLOTH_VERTEX_ATTACHMENT_NONE, VAS_global = NX_CLOTH_VERTEX_ATTACHMENT_GLOBAL, VAS_shape = NX_CLOTH_VERTEX_ATTACHMENT_SHAPE }
 
enum  PhysxWheelFlag { WF_steerable_input = 1<<0, WF_steerable_auto = 1<<1, WF_affected_by_handbrake = 1<<2, WF_accelerated = 1<<3 }
 
enum  PhysxWheelShapeFlag {
  WSF_wheel_axis_contact_normal = NX_WF_WHEEL_AXIS_CONTACT_NORMAL, WSF_input_lat_slipvelocity = NX_WF_INPUT_LAT_SLIPVELOCITY, WSF_input_lng_slipvelocity = NX_WF_INPUT_LNG_SLIPVELOCITY, WSF_unscaled_spring_behavior = NX_WF_UNSCALED_SPRING_BEHAVIOR,
  WSF_axle_speed_override = NX_WF_AXLE_SPEED_OVERRIDE, WSF_emulate_legacy_wheel = NX_WF_EMULATE_LEGACY_WHEEL, WSF_clamped_friction = NX_WF_CLAMPED_FRICTION
}
 
- Public Attributes inherited from TypedObject
 get_type
 
- Public Attributes inherited from ReferenceCount
 get_ref_count
 Returns the current reference count. More...
 

Detailed Description

A special shape used for simulating a car wheel.

The -Y axis should be directed toward the ground.

A ray is cast from the shape's origin along the -Y axis. When the ray strikes something, and the distance is:

Thus at the point of greatest possible suspension compression the wheel axle will pass through at the shape's origin. At the point greatest suspension extension the wheel axle will be a distance of suspensionTravel from the shape's origin.

The suspension's targetValue is 0 for real cars, which means that the suspension tries to extend all the way. Otherwise one can specify values [0,1] for suspensions which have a spring to pull the wheel up when it is extended too far. 0.5 will then fall halfway along suspensionTravel.

The +Z axis is the 'forward' direction of travel for the wheel. -Z is backwards. The wheel rolls forward when rotating around the positive direction around the X axis.

A positive wheel steering angle corresponds to a positive rotation around the shape's Y axis. (Castor angles are not modeled.)

The coordinate frame of the shape is rigidly fixed on the car.

Definition at line 56 of file physxWheelShape.h.

Member Function Documentation

◆ get_axle_speed()

float PhysxWheelShape::get_axle_speed ( ) const

Retrieves the current axle rotation speed.

Definition at line 225 of file physxWheelShape.cxx.

◆ get_brake_torque()

float PhysxWheelShape::get_brake_torque ( ) const

Must be nonnegative.

Very large values should lock wheel but should be stable.

Definition at line 160 of file physxWheelShape.cxx.

◆ get_inverse_wheel_mass()

float PhysxWheelShape::get_inverse_wheel_mass ( ) const

Returns the inverse mass of the wheel.

Determines the wheel velocity that wheel torques can achieve.

Definition at line 116 of file physxWheelShape.cxx.

◆ get_motor_torque()

float PhysxWheelShape::get_motor_torque ( ) const

Retrieves the sum engine torque on the wheel axle.

Positive or negative depending on direction

Definition at line 138 of file physxWheelShape.cxx.

◆ get_radius()

float PhysxWheelShape::get_radius ( ) const

Returns the radius of the sphere.

Definition at line 73 of file physxWheelShape.cxx.

◆ get_steer_angle()

float PhysxWheelShape::get_steer_angle ( ) const

Retrieves the steering angle, around shape Y axis.

The steering angle is measured in degrees.

Definition at line 182 of file physxWheelShape.cxx.

◆ get_steer_angle_rad()

float PhysxWheelShape::get_steer_angle_rad ( ) const

Retrieves the steering angle, around shape Y axis.

The steering angle is measured in radians.

Definition at line 204 of file physxWheelShape.cxx.

◆ get_suspension_travel()

float PhysxWheelShape::get_suspension_travel ( ) const

Returns the suspension travel.

Definition at line 94 of file physxWheelShape.cxx.

◆ get_wheel_flag()

bool PhysxWheelShape::get_wheel_flag ( PhysxWheelShapeFlag  flag) const

Returns the value of the specified wheel shape flag.

Definition at line 253 of file physxWheelShape.cxx.

◆ save_to_desc()

void PhysxWheelShape::save_to_desc ( PhysxWheelShapeDesc shapeDesc) const

Saves the state of the shape object to a descriptor.

Definition at line 53 of file physxWheelShape.cxx.

◆ set_axle_speed()

void PhysxWheelShape::set_axle_speed ( float  speed)

Set the current axle rotation speed.

Note: WSF_axle_speed_override flag must be raised for this to have effect!

Definition at line 215 of file physxWheelShape.cxx.

◆ set_brake_torque()

void PhysxWheelShape::set_brake_torque ( float  torque)

Must be nonnegative.

Very large values should lock wheel but should be stable.

Definition at line 149 of file physxWheelShape.cxx.

◆ set_inverse_wheel_mass()

void PhysxWheelShape::set_inverse_wheel_mass ( float  invMass)

Set the inverse mass of the wheel.

Determines the wheel velocity that wheel torques can achieve.

Definition at line 105 of file physxWheelShape.cxx.

◆ set_motor_torque()

void PhysxWheelShape::set_motor_torque ( float  torque)

Set the sum engine torque on the wheel axle.

Positive or negative depending on direction

Definition at line 127 of file physxWheelShape.cxx.

◆ set_radius()

void PhysxWheelShape::set_radius ( float  radius)

Sets the sphere radius.

Definition at line 63 of file physxWheelShape.cxx.

◆ set_steer_angle()

void PhysxWheelShape::set_steer_angle ( float  angle)

Set the steering angle, around shape Y axis.

The steering angle is measured in degrees.

Definition at line 171 of file physxWheelShape.cxx.

◆ set_steer_angle_rad()

void PhysxWheelShape::set_steer_angle_rad ( float  angle)

Set the steering angle, around shape Y axis.

The steering angle is measured in radians.

Definition at line 193 of file physxWheelShape.cxx.

◆ set_suspension()

void PhysxWheelShape::set_suspension ( const PhysxSpringDesc spring)

Set the data intended for car wheel suspension effects.

Definition at line 263 of file physxWheelShape.cxx.

◆ set_suspension_travel()

void PhysxWheelShape::set_suspension_travel ( float  travel)

Set the maximum extension distance of suspension along shape's -Y axis.

The minimum extension is always 0.

Definition at line 84 of file physxWheelShape.cxx.

◆ set_wheel_flag()

void PhysxWheelShape::set_wheel_flag ( PhysxWheelShapeFlag  flag,
bool  value 
)

Turns the specified wheel shape flag on or off.

Definition at line 235 of file physxWheelShape.cxx.


The documentation for this class was generated from the following files: