Class RaycastVehicle

Vehicle helper class that casts rays from the wheel positions towards the ground and applies forces.

Constructors

constructor

new RaycastVehicle(options): RaycastVehicle
Parameters
- options: {
      chassisBody: Body;
      indexForwardAxis?: number;
      indexRightAxis?: number;
      indexUpAxis?: number;
  }
  - chassisBody: Body
    The car chassis body.
  - Optional indexForwardAxis?: number
    Index of the forward axis. x=0, y=1, z=2
  - Optional indexRightAxis?: number
    Index of the right axis. x=0, y=1, z=2
  - Optional indexUpAxis?: number
    Index of the up axis. x=0, y=1, z=2
Returns RaycastVehicle

Properties

chassisBody

chassisBody: Body

The car chassis body.

constraints

constraints: Constraint[]

The constraints.

currentVehicleSpeedKmHour

currentVehicleSpeedKmHour: number

indexForwardAxis

indexForwardAxis: number

Index of the forward axis. x=0, y=1, z=2

indexRightAxis

indexRightAxis: number

Index of the right axis. x=0, y=1, z=2

indexUpAxis

indexUpAxis: number

Index of the up axis. x=0, y=1, z=2

numWheelsOnGround

numWheelsOnGround: number

Number of wheels on the ground.

preStepCallback

preStepCallback: (() => void)

Optional pre-step callback.

Type declaration

- (): void
- Optional pre-step callback.
  
  Returns void

sliding

sliding: boolean

Will be set to true if the car is sliding.

wheelInfos

wheelInfos: WheelInfo[]

The wheels.

world

world: World

Methods

addToWorld

addToWorld(world): void
Add the vehicle including its constraints to the world.
Parameters
- world: World
Returns void

addWheel

addWheel(options?): number
Add a wheel. For information about the options, see WheelInfo.
Parameters
- Optional options: {
      axleLocal?: Vec3;
      axleWorld?: Vec3;
      chassisConnectionPointLocal?: Vec3;
      chassisConnectionPointWorld?: Vec3;
      clippedInvContactDotSuspension?: number;
      customSlidingRotationalSpeed?: number;
      dampingCompression?: number;
      dampingRelaxation?: number;
      deltaRotation?: number;
      directionLocal?: Vec3;
      directionWorld?: Vec3;
      forwardAcceleration?: number;
      frictionSlip?: number;
      isFrontWheel?: boolean;
      maxSuspensionForce?: number;
      maxSuspensionTravel?: number;
      radius?: number;
      rollInfluence?: number;
      rotation?: number;
      sideAcceleration?: number;
      skidInfo?: number;
      slipInfo?: number;
      steering?: number;
      suspensionForce?: number;
      suspensionLength?: number;
      suspensionMaxLength?: number;
      suspensionRelativeVelocity?: number;
      suspensionRestLength?: number;
      suspensionStiffness?: number;
      useCustomSlidingRotationalSpeed?: boolean;
  }
  - Optional axleLocal?: Vec3
    axleLocal
  - Optional axleWorld?: Vec3
    axleWorld
  - Optional chassisConnectionPointLocal?: Vec3
    Connection point, defined locally in the chassis body frame.
  - Optional chassisConnectionPointWorld?: Vec3
    chassisConnectionPointWorld
  - Optional clippedInvContactDotSuspension?: number
    clippedInvContactDotSuspension
    Default
    1
  - Optional customSlidingRotationalSpeed?: number
    Speed to apply to the wheel rotation when the wheel is sliding.
    Default
    -0.1
  - Optional dampingCompression?: number
    dampingCompression
    Default
    10
  - Optional dampingRelaxation?: number
    dampingRelaxation
    Default
    10
  - Optional deltaRotation?: number
    deltaRotation
    Default
    0
  - Optional directionLocal?: Vec3
    directionLocal
  - Optional directionWorld?: Vec3
    directionWorld
  - Optional forwardAcceleration?: number
    forwardAcceleration
  - Optional frictionSlip?: number
    frictionSlip
    Default
    10.5
  - Optional isFrontWheel?: boolean
    isFrontWheel
    Default
    true
  - Optional maxSuspensionForce?: number
    maxSuspensionForce
  - Optional maxSuspensionTravel?: number
    Max travel distance of the suspension, in meters.
    Default
    1
  - Optional radius?: number
    radius
    Default
    1
  - Optional rollInfluence?: number
    rollInfluence
    Default
    0.01
  - Optional rotation?: number
    Rotation value, in radians.
    Default
    0
  - Optional sideAcceleration?: number
    sideAcceleration
  - Optional skidInfo?: number
    skidInfo
    Default
    0
  - Optional slipInfo?: number
    slipInfo
  - Optional steering?: number
    steering
    Default
    0
  - Optional suspensionForce?: number
    suspensionForce
    Default
    0
  - Optional suspensionLength?: number
    suspensionLength
    Default
    0
  - Optional suspensionMaxLength?: number
    suspensionMaxLength
    Default
    2
  - Optional suspensionRelativeVelocity?: number
    suspensionRelativeVelocity
    Default
    0
  - Optional suspensionRestLength?: number
    suspensionRestLength
    Default
    1
  - Optional suspensionStiffness?: number
    suspensionStiffness
    Default
    100
  - Optional useCustomSlidingRotationalSpeed?: boolean
    If the customSlidingRotationalSpeed should be used.
    Default
    false
Returns number

applyEngineForce

applyEngineForce(value, wheelIndex): void
Set the wheel force to apply on one of the wheels each time step
Parameters
- value: number
- wheelIndex: number
Returns void

castRay

castRay(wheel): number
Parameters
- wheel: WheelInfo
Returns number

getWheelTransformWorld

getWheelTransformWorld(wheelIndex): Transform
Get the world transform of one of the wheels
Parameters
- wheelIndex: number
Returns Transform

removeFromWorld

removeFromWorld(world): void
Remove the vehicle including its constraints from the world.
Parameters
- world: World
Returns void

setBrake

setBrake(brake, wheelIndex): void
Set the braking force of a wheel
Parameters
- brake: number
- wheelIndex: number
Returns void

setSteeringValue

setSteeringValue(value, wheelIndex): void
Set the steering value of a wheel.
Parameters
- value: number
- wheelIndex: number
Returns void

updateFriction

updateFriction(timeStep): void
Parameters
- timeStep: number
Returns void

updateSuspension

updateSuspension(deltaTime): void
Parameters
- deltaTime: number
Returns void

updateVehicle

updateVehicle(timeStep): void
Parameters
- timeStep: number
Returns void

updateWheelTransform

updateWheelTransform(wheelIndex): void
Update one of the wheel transform. Note when rendering wheels: during each step, wheel transforms are updated BEFORE the chassis; ie. their position becomes invalid after the step. Thus when you render wheels, you must update wheel transforms before rendering them. See raycastVehicle demo for an example.
Parameters
- wheelIndex: number
  The wheel index to update.
Returns void

updateWheelTransformWorld

updateWheelTransformWorld(wheel): void
Parameters
- wheel: WheelInfo
Returns void

Class RaycastVehicle

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

options: { chassisBody: Body; indexForwardAxis?: number; indexRightAxis?: number; indexUpAxis?: number; }

chassisBody: Body

Optional indexForwardAxis?: number

Optional indexRightAxis?: number

Optional indexUpAxis?: number

Returns RaycastVehicle

Properties

chassisBody

constraints

currentVehicleSpeedKmHour

indexForwardAxis

indexRightAxis

indexUpAxis

numWheelsOnGround

preStepCallback

Type declaration

Returns void

sliding

wheelInfos

world

Methods

addToWorld

Parameters

world: World

Returns void

addWheel

Parameters

Optional axleLocal?: Vec3

Optional axleWorld?: Vec3

Optional chassisConnectionPointLocal?: Vec3

Optional chassisConnectionPointWorld?: Vec3

Optional clippedInvContactDotSuspension?: number

Default

Optional customSlidingRotationalSpeed?: number

Default

Optional dampingCompression?: number

Default

Optional dampingRelaxation?: number

Default

Optional deltaRotation?: number

Default

Optional directionLocal?: Vec3

Optional directionWorld?: Vec3

Optional forwardAcceleration?: number

Optional frictionSlip?: number

Default

Optional isFrontWheel?: boolean

Default

Optional maxSuspensionForce?: number

Optional maxSuspensionTravel?: number

Default

Optional radius?: number

Default

Optional rollInfluence?: number

Default

Optional rotation?: number

Default

Optional sideAcceleration?: number

Optional skidInfo?: number

Default

Optional slipInfo?: number

Optional steering?: number

Default

Optional suspensionForce?: number

Default

Optional suspensionLength?: number

Default

Optional suspensionMaxLength?: number

Default

Optional suspensionRelativeVelocity?: number

Default

Optional suspensionRestLength?: number

options: {
chassisBody: Body;
indexForwardAxis?: number;
indexRightAxis?: number;
indexUpAxis?: number;
}

`Optional` indexForwardAxis?: number

`Optional` indexRightAxis?: number

`Optional` indexUpAxis?: number

`Optional` axleLocal?: Vec3

`Optional` axleWorld?: Vec3

`Optional` chassisConnectionPointLocal?: Vec3

`Optional` chassisConnectionPointWorld?: Vec3

`Optional` clippedInvContactDotSuspension?: number

`Optional` customSlidingRotationalSpeed?: number

`Optional` dampingCompression?: number

`Optional` dampingRelaxation?: number

`Optional` deltaRotation?: number

`Optional` directionLocal?: Vec3

`Optional` directionWorld?: Vec3

`Optional` forwardAcceleration?: number

`Optional` frictionSlip?: number

`Optional` isFrontWheel?: boolean

`Optional` maxSuspensionForce?: number

`Optional` maxSuspensionTravel?: number

`Optional` radius?: number

`Optional` rollInfluence?: number

`Optional` rotation?: number

`Optional` sideAcceleration?: number

`Optional` skidInfo?: number

`Optional` slipInfo?: number

`Optional` steering?: number

`Optional` suspensionForce?: number

`Optional` suspensionLength?: number

`Optional` suspensionMaxLength?: number

`Optional` suspensionRelativeVelocity?: number

`Optional` suspensionRestLength?: number

`Optional` suspensionStiffness?: number

`Optional` useCustomSlidingRotationalSpeed?: boolean