Wheel Joint

The wheel joint can be used to simulate wheels on vehicles. More...

Collaboration diagram for Wheel Joint:

Data Structures
struct	b3WheelJointDef
	Wheel joint definition Body A is the chassis and body B is the wheel. More...

Functions
b3JointId	b3CreateWheelJoint (b3WorldId worldId, const b3WheelJointDef *def)
	Create a wheel joint.
void	b3WheelJoint_EnableSuspension (b3JointId jointId, bool flag)
	Enable/disable the wheel joint spring.
bool	b3WheelJoint_IsSuspensionEnabled (b3JointId jointId)
	Is the wheel joint spring enabled?
void	b3WheelJoint_SetSuspensionHertz (b3JointId jointId, float hertz)
	Set the wheel joint stiffness in Hertz.
float	b3WheelJoint_GetSuspensionHertz (b3JointId jointId)
	Get the wheel joint stiffness in Hertz.
void	b3WheelJoint_SetSuspensionDampingRatio (b3JointId jointId, float dampingRatio)
	Set the wheel joint damping ratio, non-dimensional.
float	b3WheelJoint_GetSuspensionDampingRatio (b3JointId jointId)
	Get the wheel joint damping ratio, non-dimensional.
void	b3WheelJoint_EnableSuspensionLimit (b3JointId jointId, bool flag)
	Enable/disable the wheel joint limit.
bool	b3WheelJoint_IsSuspensionLimitEnabled (b3JointId jointId)
	Is the wheel joint limit enabled?
float	b3WheelJoint_GetLowerSuspensionLimit (b3JointId jointId)
	Get the wheel joint lower limit.
float	b3WheelJoint_GetUpperSuspensionLimit (b3JointId jointId)
	Get the wheel joint upper limit.
void	b3WheelJoint_SetSuspensionLimits (b3JointId jointId, float lower, float upper)
	Set the wheel joint limits.
void	b3WheelJoint_EnableSpinMotor (b3JointId jointId, bool flag)
	Enable/disable the wheel joint motor.
bool	b3WheelJoint_IsSpinMotorEnabled (b3JointId jointId)
	Is the wheel joint motor enabled?
void	b3WheelJoint_SetSpinMotorSpeed (b3JointId jointId, float speed)
	Set the wheel joint motor speed in radians per second.
float	b3WheelJoint_GetSpinMotorSpeed (b3JointId jointId)
	Get the wheel joint motor speed in radians per second.
void	b3WheelJoint_SetMaxSpinTorque (b3JointId jointId, float torque)
	Set the wheel joint maximum motor torque, usually in newton-meters.
float	b3WheelJoint_GetMaxSpinTorque (b3JointId jointId)
	Get the wheel joint maximum motor torque, usually in newton-meters.
float	b3WheelJoint_GetSpinSpeed (b3JointId jointId)
	Get the current spin speed in radians per second.
float	b3WheelJoint_GetSpinTorque (b3JointId jointId)
	Get the wheel joint current motor torque, usually in newton-meters.
void	b3WheelJoint_EnableSteering (b3JointId jointId, bool flag)
	Enable/disable wheel steering. Steering allows the wheel to rotate about the suspension axis.
bool	b3WheelJoint_IsSteeringEnabled (b3JointId jointId)
	Can the wheel steer?
void	b3WheelJoint_SetSteeringHertz (b3JointId jointId, float hertz)
	Set the wheel joint steering stiffness in Hertz.
float	b3WheelJoint_GetSteeringHertz (b3JointId jointId)
	Get the wheel joint steering stiffness in Hertz.
void	b3WheelJoint_SetSteeringDampingRatio (b3JointId jointId, float dampingRatio)
	Set the wheel joint steering damping ratio, non-dimensional.
float	b3WheelJoint_GetSteeringDampingRatio (b3JointId jointId)
	Get the wheel joint steering damping ratio, non-dimensional.
void	b3WheelJoint_SetMaxSteeringTorque (b3JointId jointId, float torque)
	Set the wheel joint maximum steering torque in N*m.
float	b3WheelJoint_GetMaxSteeringTorque (b3JointId jointId)
	Get the wheel joint maximum steering torque in N*m.
void	b3WheelJoint_EnableSteeringLimit (b3JointId jointId, bool flag)
	Enable/disable the wheel joint steering limit.
bool	b3WheelJoint_IsSteeringLimitEnabled (b3JointId jointId)
	Is the wheel joint steering limit enabled?
float	b3WheelJoint_GetLowerSteeringLimit (b3JointId jointId)
	Get the wheel joint lower steering limit in radians.
float	b3WheelJoint_GetUpperSteeringLimit (b3JointId jointId)
	Get the wheel joint upper steering limit in radians.
void	b3WheelJoint_SetSteeringLimits (b3JointId jointId, float lowerRadians, float upperRadians)
	Set the wheel joint steering limits in radians.
void	b3WheelJoint_SetTargetSteeringAngle (b3JointId jointId, float radians)
	Set the wheel joint target steering angle in radians.
float	b3WheelJoint_GetTargetSteeringAngle (b3JointId jointId)
	Get the wheel joint target steering angle in radians.
float	b3WheelJoint_GetSteeringAngle (b3JointId jointId)
	Get the current steering angle in radians.
float	b3WheelJoint_GetSteeringTorque (b3JointId jointId)
	Get the current steering torque in N*m.
b3WheelJointDef	b3DefaultWheelJointDef (void)
	Use this to initialize your joint definition.

Detailed Description

The wheel joint can be used to simulate wheels on vehicles.

The wheel joint restricts body B to move along a local axis in body A. Body B is free to rotate. Supports a linear spring, linear limits, and a rotational motor.

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Data Structure Documentation

b3WheelJointDef

struct b3WheelJointDef

Wheel joint definition Body A is the chassis and body B is the wheel.

The wheel rotates around the local z-axis in frame B. The wheel translates along the local x-axis in frame A. The wheel can optionally steer along the x-axis in frame A.

Collaboration diagram for b3WheelJointDef:

Data Fields
b3JointDef	base	Base joint definition.
bool	enableSpinMotor	Enable/disable the joint rotational motor.
bool	enableSteering	Enable steering, otherwise the steering is fixed forward.
bool	enableSteeringLimit	Enable/disable the steering angular limit.
bool	enableSuspensionLimit	Enable/disable the joint linear limit.
bool	enableSuspensionSpring	Enable a linear spring along the local axis.
float	lowerSteeringLimit	The lower steering angle in radians.
float	lowerSuspensionLimit	The lower suspension translation limit.
float	maxSpinTorque	The maximum motor torque, typically in newton-meters.
float	maxSteeringTorque	The maximum steering torque in N*m.
float	spinSpeed	The desired motor speed in radians per second.
float	steeringDampingRatio	Spring damping ratio, non-dimensional.
float	steeringHertz	Steering stiffness in Hertz.
float	suspensionDampingRatio	Spring damping ratio, non-dimensional.
float	suspensionHertz	Spring stiffness in Hertz.
float	targetSteeringAngle	The target steering angle in radians.
float	upperSteeringLimit	The upper steering angle in radians.
float	upperSuspensionLimit	The upper translation limit.

Function Documentation

b3CreateWheelJoint()

b3JointId b3CreateWheelJoint	(	b3WorldId	worldId,
		const b3WheelJointDef *	def )

Create a wheel joint.

See also

b3WheelJointDef for details.