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:

## 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...
PhysxActor * | get_actor () const
| Retrieves the actor which this shape is associated with. More...
PhysxCcdSkeleton * | get_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
TypedObject * | as_typed_object ()
| Returns the object, upcast (if necessary) to a TypedObject pointer. More...
const TypedObject * | as_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...
TypedObject & | operator= (const TypedObject &copy)=default
Public Member Functions inherited from MemoryBase
void | operator delete (void *, void *)
void | operator delete (void *ptr)
void | operator delete[] (void *, void *)
void | operator delete[] (void *ptr)
void * | operator new (size_t size)
void * | operator new (size_t size, void *ptr)
void * | operator new[] (size_t size)
void * | operator new[] (size_t size, void *ptr)
Public Member Functions inherited from ReferenceCount
int | get_ref_count () const
WeakReferenceList * | get_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...
bool | unref_if_one () const
| Atomically decreases the reference count of this object if it is one. More...
WeakReferenceList * | weak_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 PhysxShape * | factory (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:

- less than wheelRadius from the shape origin: a hard contact is created - between wheelRadius and (suspensionTravel + wheelRadius): a soft suspension contact is created - greater than (suspensionTravel + wheelRadius): no contact is created.

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 224 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 159 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 115 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 137 of file physxWheelShape.cxx.

## ◆ get_radius()

float PhysxWheelShape::get_radius | ( |  | ) | const

Returns the radius of the sphere.

Definition at line 72 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 181 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 203 of file physxWheelShape.cxx.

## ◆ get_suspension_travel()

float PhysxWheelShape::get_suspension_travel | ( |  | ) | const

Returns the suspension travel.

Definition at line 93 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 252 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 52 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 214 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 148 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 104 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 126 of file physxWheelShape.cxx.

## ◆ set_radius()

void PhysxWheelShape::set_radius | ( | float | radius | ) |

Sets the sphere radius.

Definition at line 62 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 170 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 192 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 262 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 83 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 234 of file physxWheelShape.cxx.

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

- panda/src/physx/physxWheelShape.h
- panda/src/physx/physxWheelShape.cxx
- panda/src/physx/physxWheelShape.I