Class RigidVehicle

Simple vehicle helper class with spherical rigid body wheels.

Index

Constructors

Properties

chassisBody constraints coordinateSystem wheelAxes wheelBodies wheelForces

Methods

addToWorld addWheel applyWheelForce disableMotor getWheelSpeed removeFromWorld setMotorSpeed setSteeringValue setWheelForce

Constructors

constructor

new RigidVehicle(options?): RigidVehicle
Parameters
- Optional 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 & {
motorTargetVelocity?: number;
})[]

The constraints.

coordinateSystem

coordinateSystem: Vec3

wheelAxes

wheelAxes: Vec3[]

The wheel axes.

wheelBodies

wheelBodies: Body[]

The bodies of the wheels.

wheelForces

wheelForces: number[]

The wheel forces.

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
Parameters
- Optional 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, wheelIndex): void
Apply a torque on one of the wheels.
Parameters
- value: number
- wheelIndex: number
Returns void

disableMotor

disableMotor(wheelIndex): void
Set the target rotational speed of the hinge constraint.
Parameters
- wheelIndex: number
Returns void

getWheelSpeed

getWheelSpeed(wheelIndex): number
Get current rotational velocity of a wheel
Parameters
- wheelIndex: number
Returns number

removeFromWorld

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

setMotorSpeed

setMotorSpeed(value, wheelIndex): void
Set the target rotational speed of the hinge constraint.
Parameters
- value: number
- wheelIndex: number
Returns void

setSteeringValue

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

setWheelForce

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