Class RigidVehicle

Simple vehicle helper class with spherical rigid body wheels.

Hierarchy

RigidVehicle

Index

Constructors

constructor

Properties

Methods

Constructors

constructor

new RigidVehicle(options?: { chassisBody?: Body; coordinateSystem?: Vec3 }): RigidVehicle

- Defined in objects/RigidVehicle.ts:36
Parameters
- options: { chassisBody?: Body; coordinateSystem?: Vec3 } = {}
  - Optional chassisBody?: Body
    
    Optionally pass a body for the chassis
  - Optional coordinateSystem?: Vec3
    
    A Vector3 defining the world coordinate system.
    
    default
    new Vec3(1, 2, 3)
Returns RigidVehicle

Properties

chassisBody

chassisBody: Body

The chassis body.

constraints

constraints: (HingeConstraint & {})[]

The constraints.

wheelAxes

wheelAxes: Vec3[]

The wheel axes.

wheelBodies

wheelBodies: Body[]

The bodies of the wheels.

wheelForces

wheelForces: number[]

The wheel forces.

Methods

addToWorld

addToWorld(world: World): void

- Defined in objects/RigidVehicle.ts:171
Add the vehicle including its constraints to the world.

Parameters
- world: World
Returns void

addWheel

addWheel(options?: { axis?: Vec3; body?: Body; direction?: Vec3; position?: Vec3 }): number

- Defined in objects/RigidVehicle.ts:68
Add a wheel

Parameters
- options: { axis?: Vec3; body?: Body; direction?: Vec3; position?: Vec3 } = {}
  - Optional axis?: Vec3
    
    Axis of rotation of the wheel, locally defined in the chassis.
  - Optional body?: Body
    
    The wheel body
  - Optional direction?: Vec3
    
    Slide direction of the wheel along the suspension.
  - Optional position?: Vec3
    
    Position of the wheel, locally in the chassis body.
Returns number

applyWheelForce

applyWheelForce(value: number, wheelIndex: number): void

- Defined in objects/RigidVehicle.ts:158
Apply a torque on one of the wheels.

Parameters
- value: number
- wheelIndex: number
Returns void

disableMotor

disableMotor(wheelIndex: number): void

- Defined in objects/RigidVehicle.ts:143
Set the target rotational speed of the hinge constraint.

Parameters
- wheelIndex: number
Returns void

getWheelSpeed

getWheelSpeed(wheelIndex: number): number

- Defined in objects/RigidVehicle.ts:212
Get current rotational velocity of a wheel

Parameters
- wheelIndex: number
Returns number

removeFromWorld

removeFromWorld(world: World): void

- Defined in objects/RigidVehicle.ts:196
Remove the vehicle including its constraints from the world.

Parameters
- world: World
Returns void

setMotorSpeed

setMotorSpeed(value: number, wheelIndex: number): void

- Defined in objects/RigidVehicle.ts:134
Set the target rotational speed of the hinge constraint.

Parameters
- value: number
- wheelIndex: number
Returns void

setSteeringValue

setSteeringValue(value: number, wheelIndex: number): void

- Defined in objects/RigidVehicle.ts:120
Set the steering value of a wheel.

todo
check coordinateSystem

Parameters
- value: number
- wheelIndex: number
Returns void

setWheelForce

setWheelForce(value: number, wheelIndex: number): void

- Defined in objects/RigidVehicle.ts:151
Set the wheel force to apply on one of the wheels each time step

Parameters
- value: number
- wheelIndex: number
Returns void