Chaos::FSimpleWheelSim Class Reference

#include <WheelSystem.h>

Inheritance diagram for Chaos::FSimpleWheelSim:

Public Member Functions
	FSimpleWheelSim (const FSimpleWheelConfig *SetupIn)
void	SetWheelRadius (float NewRadius)
void	SetAngularPosition (float PositionIn)
void	SetAngularVelocity (float AngularVelocityIn)
void	SetMatchingSpeed (float LinearMetersPerSecondIn)
void	SetBrakeTorque (float BrakeTorqueIn, bool bEngineBrakingIn=false)
void	SetDriveTorque (float EngineTorqueIn)
void	SetTorqueCombineMethod (FSimpleWheelConfig::EExternalTorqueCombineMethod InCombineMethod)
void	SetBrakeTorqueOverride (float BrakeTorqueIn, bool bEngineBrakingIn=false)
void	SetDriveTorqueOverride (float EngineTorqueIn)
void	SetVehicleGroundSpeed (const FVector &VIn)
void	SetWheelLoadForce (float WheelLoadForceIn)
void	SetSurfaceFriction (float InFriction)
void	SetOnGround (bool OnGround)
void	SetSteeringAngle (float InAngle)
void	SetMaxOmega (float InMaxOmega)
void	SetWheelIndex (uint32 InIndex)
FVector	GetForceFromFriction () const
float	GetEffectiveRadius () const
float	GetAngularPosition () const
float	GetAngularVelocity () const
float	GetWheelRPM ()
bool	InContact () const
bool	IsSlipping () const
bool	IsSkidding () const
bool	IsABSActivated () const
float	GetSteeringAngle () const
float	GetNormalizedLongitudinalSlip () const
float	GetNormalizedLateralSlip () const
float	GetWheelLoadForce () const
float	GetSurfaceFriction () const
float	GetSlipAngle () const
float	GetDriveTorque () const
float	GetBrakeTorque () const
float	GetRoadSpeed () const
float	GetWheelGroundSpeed () const
float	GetSlipMagnitude () const
float	GetSkidMagnitude () const
void	Simulate (float DeltaTime)
void	SetMassPerWheel (float VehicleMassPerWheel)
Public Member Functions inherited from TVehicleSystem< FSimpleWheelConfig >
	TVehicleSystem ()
	TVehicleSystem (const FSimpleWheelConfig *SetupIn)
FSimpleWheelConfig &	AccessSetup ()
const FSimpleWheelConfig &	Setup () const

Static Public Member Functions
static float	GetNormalisedFrictionFromSlipAngle (float SlipIn)

Public Attributes
bool	BrakeEnabled
bool	HandbrakeEnabled
bool	SteeringEnabled
bool	EngineEnabled
bool	TractionControlEnabled
bool	ABSEnabled
float	FrictionMultiplier
float	LateralSlipGraphMultiplier
float	CorneringStiffness
float	MaxSteeringAngle
float	MaxBrakeTorque
float	HandbrakeTorque
FSimpleWheelConfig::EExternalTorqueCombineMethod	ExternalTorqueCombineMethod
float	Re
float	Omega
float	Sx
float	Inertia
float	DriveTorque
float	BrakeTorque
float	ForceIntoSurface
FVector	GroundVelocityVector
float	AngularPosition
float	SteeringAngle
float	SurfaceFriction
float	MaxOmega
float	ExternalDriveTorque
float	ExternalBrakeTorque
FVector	ForceFromFriction
float	MassPerWheel
float	SlipVelocity
float	SlipAngle
bool	bInContact
uint32	WheelIndex
bool	bEngineBraking
float	AppliedLinearDriveForce
float	AppliedLinearBrakeForce
float	LongitudinalAdhesiveLimit
float	LateralAdhesiveLimit
float	SideSlipModifier
float	Spin
float	AvailableGrip
FVector	InputForces
bool	bClipping
bool	bABSActivated
Public Attributes inherited from TVehicleSystem< FSimpleWheelConfig >
const FSimpleWheelConfig *	SetupPtr

Detailed Description

Wheel instance data changes during the simulation

Constructor & Destructor Documentation

FSimpleWheelSim()

Chaos::FSimpleWheelSim::FSimpleWheelSim

(

const FSimpleWheelConfig *

SetupIn

)

Member Function Documentation

GetAngularPosition()

float Chaos::FSimpleWheelSim::GetAngularPosition ( ) const

inline

Get the angular position of the wheel [radians]

GetAngularVelocity()

float Chaos::FSimpleWheelSim::GetAngularVelocity ( ) const

inline

Get the angular velocity of the wheel [radians/sec]

GetBrakeTorque()

float Chaos::FSimpleWheelSim::GetBrakeTorque ( ) const

inline

Get the braking torque being applied to the wheel [N.m]

GetDriveTorque()

float Chaos::FSimpleWheelSim::GetDriveTorque ( ) const

inline

Get the drive torque being applied to the wheel [N.m]

GetEffectiveRadius()

float Chaos::FSimpleWheelSim::GetEffectiveRadius ( ) const

inline

Get the radius of the wheel [cm]

GetForceFromFriction()

FVector Chaos::FSimpleWheelSim::GetForceFromFriction ( ) const

inline

return the calculated available friction force

GetNormalisedFrictionFromSlipAngle()

static float Chaos::FSimpleWheelSim::GetNormalisedFrictionFromSlipAngle ( float  SlipIn )

inlinestatic

Amount of friction we can expect after taking into account the amount the wheel slips

GetNormalizedLateralSlip()

float Chaos::FSimpleWheelSim::GetNormalizedLateralSlip ( ) const

inline

GetNormalizedLongitudinalSlip()

float Chaos::FSimpleWheelSim::GetNormalizedLongitudinalSlip ( ) const

inline

Get the current longitudinal slip value [0 no slip - using static friction, 1 full slip - using dynamic friction]

GetRoadSpeed()

float Chaos::FSimpleWheelSim::GetRoadSpeed ( ) const

inline

Get the road speed at the wheel

GetSkidMagnitude()

float Chaos::FSimpleWheelSim::GetSkidMagnitude ( ) const

inline

Get the effective ground speed along the lateral wheel axis positive if wheel is faster than effective ground speed, negative if wheel is slower

GetSlipAngle()

float Chaos::FSimpleWheelSim::GetSlipAngle ( ) const

inline

Get the slip angle for this wheel - angle between wheel forward axis and velocity vector [degrees]

GetSlipMagnitude()

float Chaos::FSimpleWheelSim::GetSlipMagnitude ( ) const

inline

Get the difference between the wheel speed and the effective ground speed of the vehicle at the wheel positive if wheel is faster than effective ground speed, negative if wheel is slower

GetSteeringAngle()

float Chaos::FSimpleWheelSim::GetSteeringAngle ( ) const

inline

GetSurfaceFriction()

float Chaos::FSimpleWheelSim::GetSurfaceFriction ( ) const

inline

Get the friction coefficient of the surface in contact with the wheel

GetWheelGroundSpeed()

float Chaos::FSimpleWheelSim::GetWheelGroundSpeed ( ) const

inline

Get the linear ground speed of the wheel based on its current rotational speed

GetWheelLoadForce()

float Chaos::FSimpleWheelSim::GetWheelLoadForce ( ) const

inline

Get the magnitude of the force pressing the wheel into the terrain

GetWheelRPM()

float Chaos::FSimpleWheelSim::GetWheelRPM ( )

inline

Get the wheel RPM [revolutions per minute]

InContact()

bool Chaos::FSimpleWheelSim::InContact ( ) const

inline

Is the wheel in contact with the terrain or another object

IsABSActivated()

bool Chaos::FSimpleWheelSim::IsABSActivated ( ) const

inline

IsSkidding()

bool Chaos::FSimpleWheelSim::IsSkidding ( ) const

inline

IsSlipping()

bool Chaos::FSimpleWheelSim::IsSlipping ( ) const

inline

SetAngularPosition()

void Chaos::FSimpleWheelSim::SetAngularPosition ( float  PositionIn )

inline

Set the angular position in radians

SetAngularVelocity()

void Chaos::FSimpleWheelSim::SetAngularVelocity ( float  AngularVelocityIn )

inline

Set the angular position in radians/sec

SetBrakeTorque()

void Chaos::FSimpleWheelSim::SetBrakeTorque ( float  BrakeTorqueIn, bool  bEngineBrakingIn = false  )

inline

Set the braking torque - decelerating rotational force

SetBrakeTorqueOverride()

void Chaos::FSimpleWheelSim::SetBrakeTorqueOverride ( float  BrakeTorqueIn, bool  bEngineBrakingIn = false  )

inline

SetDriveTorque()

void Chaos::FSimpleWheelSim::SetDriveTorque ( float  EngineTorqueIn )

inline

Set the drive torque - accelerating rotational force

SetDriveTorqueOverride()

void Chaos::FSimpleWheelSim::SetDriveTorqueOverride ( float  EngineTorqueIn )

inline

SetMassPerWheel()

void Chaos::FSimpleWheelSim::SetMassPerWheel ( float  VehicleMassPerWheel )

inline

SetMatchingSpeed()

void Chaos::FSimpleWheelSim::SetMatchingSpeed ( float  LinearMetersPerSecondIn )

inline

set wheel rotational speed to match the specified linear forwards speed

SetMaxOmega()

void Chaos::FSimpleWheelSim::SetMaxOmega ( float  InMaxOmega )

inline

SetOnGround()

void Chaos::FSimpleWheelSim::SetOnGround ( bool  OnGround )

inline

SetSteeringAngle()

void Chaos::FSimpleWheelSim::SetSteeringAngle ( float  InAngle )

inline

SetSurfaceFriction()

void Chaos::FSimpleWheelSim::SetSurfaceFriction ( float  InFriction )

inline

Set the friction coefficient of the surface under the wheel

SetTorqueCombineMethod()

void Chaos::FSimpleWheelSim::SetTorqueCombineMethod ( FSimpleWheelConfig::EExternalTorqueCombineMethod  InCombineMethod )

inline

SetVehicleGroundSpeed()

void Chaos::FSimpleWheelSim::SetVehicleGroundSpeed ( const FVector &  VIn )

inline

Set the vehicle's speed at the wheels location in local wheel coords

SetWheelIndex()

void Chaos::FSimpleWheelSim::SetWheelIndex ( uint32  InIndex )

inline

SetWheelLoadForce()

void Chaos::FSimpleWheelSim::SetWheelLoadForce ( float  WheelLoadForceIn )

inline

Set the force pressing the wheel into the terrain - from suspension

SetWheelRadius()

void Chaos::FSimpleWheelSim::SetWheelRadius ( float  NewRadius )

inline

Set the wheel radius - can change dynamically during simulation if desired

Simulate()

void Chaos::FSimpleWheelSim::Simulate

(

float

DeltaTime

)

Simulate - figure out wheel lateral and longitudinal forces based on available friction at the wheel Wheel load force from body weight and the surface friction together determine the grip available at the wheel DriveTorque accelerates the wheel BrakeTorque decelerates the wheel

Member Data Documentation

ABSEnabled

bool Chaos::FSimpleWheelSim::ABSEnabled

AngularPosition

float Chaos::FSimpleWheelSim::AngularPosition

AppliedLinearBrakeForce

float Chaos::FSimpleWheelSim::AppliedLinearBrakeForce

AppliedLinearDriveForce

float Chaos::FSimpleWheelSim::AppliedLinearDriveForce

AvailableGrip

float Chaos::FSimpleWheelSim::AvailableGrip

bABSActivated

bool Chaos::FSimpleWheelSim::bABSActivated

bClipping

bool Chaos::FSimpleWheelSim::bClipping

bEngineBraking

bool Chaos::FSimpleWheelSim::bEngineBraking

bInContact

bool Chaos::FSimpleWheelSim::bInContact

BrakeEnabled

bool Chaos::FSimpleWheelSim::BrakeEnabled

BrakeTorque

float Chaos::FSimpleWheelSim::BrakeTorque

CorneringStiffness

float Chaos::FSimpleWheelSim::CorneringStiffness

DriveTorque

float Chaos::FSimpleWheelSim::DriveTorque

EngineEnabled

bool Chaos::FSimpleWheelSim::EngineEnabled

ExternalBrakeTorque

float Chaos::FSimpleWheelSim::ExternalBrakeTorque

ExternalDriveTorque

float Chaos::FSimpleWheelSim::ExternalDriveTorque

ExternalTorqueCombineMethod

FSimpleWheelConfig::EExternalTorqueCombineMethod Chaos::FSimpleWheelSim::ExternalTorqueCombineMethod

ForceFromFriction

FVector Chaos::FSimpleWheelSim::ForceFromFriction

ForceIntoSurface

float Chaos::FSimpleWheelSim::ForceIntoSurface

FrictionMultiplier

float Chaos::FSimpleWheelSim::FrictionMultiplier

GroundVelocityVector

FVector Chaos::FSimpleWheelSim::GroundVelocityVector

HandbrakeEnabled

bool Chaos::FSimpleWheelSim::HandbrakeEnabled

HandbrakeTorque

float Chaos::FSimpleWheelSim::HandbrakeTorque

Inertia

float Chaos::FSimpleWheelSim::Inertia

InputForces

FVector Chaos::FSimpleWheelSim::InputForces

LateralAdhesiveLimit

float Chaos::FSimpleWheelSim::LateralAdhesiveLimit

LateralSlipGraphMultiplier

float Chaos::FSimpleWheelSim::LateralSlipGraphMultiplier

LongitudinalAdhesiveLimit

float Chaos::FSimpleWheelSim::LongitudinalAdhesiveLimit

MassPerWheel

float Chaos::FSimpleWheelSim::MassPerWheel

MaxBrakeTorque

float Chaos::FSimpleWheelSim::MaxBrakeTorque

MaxOmega

float Chaos::FSimpleWheelSim::MaxOmega

MaxSteeringAngle

float Chaos::FSimpleWheelSim::MaxSteeringAngle

Omega

float Chaos::FSimpleWheelSim::Omega

Re

float Chaos::FSimpleWheelSim::Re

SideSlipModifier

float Chaos::FSimpleWheelSim::SideSlipModifier

SlipAngle

float Chaos::FSimpleWheelSim::SlipAngle

SlipVelocity

float Chaos::FSimpleWheelSim::SlipVelocity

Spin

float Chaos::FSimpleWheelSim::Spin

SteeringAngle

float Chaos::FSimpleWheelSim::SteeringAngle

SteeringEnabled

bool Chaos::FSimpleWheelSim::SteeringEnabled

SurfaceFriction

float Chaos::FSimpleWheelSim::SurfaceFriction

Sx

float Chaos::FSimpleWheelSim::Sx

TractionControlEnabled

bool Chaos::FSimpleWheelSim::TractionControlEnabled

WheelIndex

uint32 Chaos::FSimpleWheelSim::WheelIndex

---

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

• Engine/Source/Runtime/Experimental/ChaosVehicles/ChaosVehiclesCore/Public/WheelSystem.h
• Engine/Source/Runtime/Experimental/ChaosVehicles/ChaosVehiclesCore/Private/WheelSystem.cpp