cpp
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JoltPhysics
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   <div id="projectbrief">A multi core friendly Game Physics Engine</div>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="#friends">Friends</a> &#124;
<a href="class_wheel-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">Wheel Class Reference</div></div>
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<p>Base class for runtime data for a wheel, each <a class="el" href="class_vehicle_controller.html" title="Runtime data for interface that controls acceleration / deceleration of the vehicle.">VehicleController</a> can implement a derived class of this.  
 <a href="#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_wheel_8h_source.html">Wheel.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for Wheel:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_wheel.png" usemap="#Wheel_map" alt=""/>
  <map id="Wheel_map" name="Wheel_map">
<area href="class_non_copyable.html" title="Class that makes another class non-copyable. Usage: Inherit from NonCopyable." alt="NonCopyable" shape="rect" coords="49,0,138,24"/>
<area href="class_wheel_t_v.html" title="Wheel object specifically for TrackedVehicleController." alt="WheelTV" shape="rect" coords="0,112,89,136"/>
<area href="class_wheel_w_v.html" title="Wheel object specifically for WheeledVehicleController." alt="WheelWV" shape="rect" coords="99,112,188,136"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a1b32822acc30f1afc25f57de681c7389" id="r_a1b32822acc30f1afc25f57de681c7389"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1b32822acc30f1afc25f57de681c7389">Wheel</a> (const <a class="el" href="class_wheel_settings.html">WheelSettings</a> &amp;inSettings)</td></tr>
<tr class="memdesc:a1b32822acc30f1afc25f57de681c7389"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor / destructor.  <br /></td></tr>
<tr class="separator:a1b32822acc30f1afc25f57de681c7389"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa6087eae383e857b8615993388ba8a5f" id="r_aa6087eae383e857b8615993388ba8a5f"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa6087eae383e857b8615993388ba8a5f">~Wheel</a> ()=default</td></tr>
<tr class="separator:aa6087eae383e857b8615993388ba8a5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab93b1087453249915b72e74733ea2af3" id="r_ab93b1087453249915b72e74733ea2af3"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_wheel_settings.html">WheelSettings</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab93b1087453249915b72e74733ea2af3">GetSettings</a> () const</td></tr>
<tr class="memdesc:ab93b1087453249915b72e74733ea2af3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get settings for the wheel.  <br /></td></tr>
<tr class="separator:ab93b1087453249915b72e74733ea2af3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2da83076a68424179c3928b123c086c" id="r_ad2da83076a68424179c3928b123c086c"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad2da83076a68424179c3928b123c086c">GetAngularVelocity</a> () const</td></tr>
<tr class="memdesc:ad2da83076a68424179c3928b123c086c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the angular velocity (rad/s) for this wheel, note that positive means the wheel is rotating such that the car moves forward.  <br /></td></tr>
<tr class="separator:ad2da83076a68424179c3928b123c086c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a244412d3b7d9216cdf7d8f364d128b60" id="r_a244412d3b7d9216cdf7d8f364d128b60"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a244412d3b7d9216cdf7d8f364d128b60">SetAngularVelocity</a> (float inVel)</td></tr>
<tr class="memdesc:a244412d3b7d9216cdf7d8f364d128b60"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the angular velocity (rad/s)  <br /></td></tr>
<tr class="separator:a244412d3b7d9216cdf7d8f364d128b60"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06226466b8c4ff0f65ae329bb3b7a3b2" id="r_a06226466b8c4ff0f65ae329bb3b7a3b2"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a06226466b8c4ff0f65ae329bb3b7a3b2">GetRotationAngle</a> () const</td></tr>
<tr class="memdesc:a06226466b8c4ff0f65ae329bb3b7a3b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current rotation angle of the wheel in radians [0, 2 pi].  <br /></td></tr>
<tr class="separator:a06226466b8c4ff0f65ae329bb3b7a3b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa68b8841db1daed297d8c64ed19bef2" id="r_aaa68b8841db1daed297d8c64ed19bef2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaa68b8841db1daed297d8c64ed19bef2">SetRotationAngle</a> (float inAngle)</td></tr>
<tr class="memdesc:aaa68b8841db1daed297d8c64ed19bef2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the current rotation angle of the wheel in radians [0, 2 pi].  <br /></td></tr>
<tr class="separator:aaa68b8841db1daed297d8c64ed19bef2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1972924bef7c43ef8544a7ba2dc28c07" id="r_a1972924bef7c43ef8544a7ba2dc28c07"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1972924bef7c43ef8544a7ba2dc28c07">GetSteerAngle</a> () const</td></tr>
<tr class="memdesc:a1972924bef7c43ef8544a7ba2dc28c07"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current steer angle of the wheel in radians [-pi, pi], positive is to the left.  <br /></td></tr>
<tr class="separator:a1972924bef7c43ef8544a7ba2dc28c07"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7efe681ffa418ed0e1724fbc1fef7ec8" id="r_a7efe681ffa418ed0e1724fbc1fef7ec8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7efe681ffa418ed0e1724fbc1fef7ec8">SetSteerAngle</a> (float inAngle)</td></tr>
<tr class="memdesc:a7efe681ffa418ed0e1724fbc1fef7ec8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the current steer angle of the wheel in radians [-pi, pi].  <br /></td></tr>
<tr class="separator:a7efe681ffa418ed0e1724fbc1fef7ec8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5ab9bb3ed8151044ad41de572945eac" id="r_ad5ab9bb3ed8151044ad41de572945eac"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad5ab9bb3ed8151044ad41de572945eac">HasContact</a> () const</td></tr>
<tr class="memdesc:ad5ab9bb3ed8151044ad41de572945eac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the wheel is touching an object.  <br /></td></tr>
<tr class="separator:ad5ab9bb3ed8151044ad41de572945eac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc31f12c9bf9049d98397fc721219d10" id="r_acc31f12c9bf9049d98397fc721219d10"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_body_i_d.html">BodyID</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acc31f12c9bf9049d98397fc721219d10">GetContactBodyID</a> () const</td></tr>
<tr class="memdesc:acc31f12c9bf9049d98397fc721219d10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the body ID of the body that this wheel is touching.  <br /></td></tr>
<tr class="separator:acc31f12c9bf9049d98397fc721219d10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ed45e80dae82a05fe3a07bd8f81d96f" id="r_a4ed45e80dae82a05fe3a07bd8f81d96f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_sub_shape_i_d.html">SubShapeID</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4ed45e80dae82a05fe3a07bd8f81d96f">GetContactSubShapeID</a> () const</td></tr>
<tr class="memdesc:a4ed45e80dae82a05fe3a07bd8f81d96f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sub shape ID where we're contacting the body.  <br /></td></tr>
<tr class="separator:a4ed45e80dae82a05fe3a07bd8f81d96f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe7cd7933c99164aefd66c9d5fe2a3eb" id="r_afe7cd7933c99164aefd66c9d5fe2a3eb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afe7cd7933c99164aefd66c9d5fe2a3eb">GetContactPosition</a> () const</td></tr>
<tr class="memdesc:afe7cd7933c99164aefd66c9d5fe2a3eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current contact position in world space (note by the time you call this the vehicle has moved)  <br /></td></tr>
<tr class="separator:afe7cd7933c99164aefd66c9d5fe2a3eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a909988d11cc3e43ba357a1f9b1d4f101" id="r_a909988d11cc3e43ba357a1f9b1d4f101"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a909988d11cc3e43ba357a1f9b1d4f101">GetContactPointVelocity</a> () const</td></tr>
<tr class="memdesc:a909988d11cc3e43ba357a1f9b1d4f101"><td class="mdescLeft">&#160;</td><td class="mdescRight">Velocity of the contact point (m / s, not relative to the wheel but in world space)  <br /></td></tr>
<tr class="separator:a909988d11cc3e43ba357a1f9b1d4f101"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaff3b5c0de2d6becbebbdbd886b2c7cf" id="r_aaff3b5c0de2d6becbebbdbd886b2c7cf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaff3b5c0de2d6becbebbdbd886b2c7cf">GetContactNormal</a> () const</td></tr>
<tr class="memdesc:aaff3b5c0de2d6becbebbdbd886b2c7cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current contact normal in world space (note by the time you call this the vehicle has moved)  <br /></td></tr>
<tr class="separator:aaff3b5c0de2d6becbebbdbd886b2c7cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f4df6da668a8f3d147ee53a3c46910c" id="r_a4f4df6da668a8f3d147ee53a3c46910c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4f4df6da668a8f3d147ee53a3c46910c">GetContactLongitudinal</a> () const</td></tr>
<tr class="memdesc:a4f4df6da668a8f3d147ee53a3c46910c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns longitudinal direction (direction along the wheel relative to floor) in world space (note by the time you call this the vehicle has moved)  <br /></td></tr>
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<tr class="memitem:a23056c4f6164ec0b1e7a0448a54135c3" id="r_a23056c4f6164ec0b1e7a0448a54135c3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a23056c4f6164ec0b1e7a0448a54135c3">GetContactLateral</a> () const</td></tr>
<tr class="memdesc:a23056c4f6164ec0b1e7a0448a54135c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns lateral direction (sideways direction) in world space (note by the time you call this the vehicle has moved)  <br /></td></tr>
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<tr class="memitem:ad03e749022ce451237c8731a7b59eb79" id="r_ad03e749022ce451237c8731a7b59eb79"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad03e749022ce451237c8731a7b59eb79">GetSuspensionLength</a> () const</td></tr>
<tr class="memdesc:ad03e749022ce451237c8731a7b59eb79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the length of the suspension for a wheel (m) relative to the suspension attachment point (hard point)  <br /></td></tr>
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<tr class="memitem:a61eabff8238d2b284c9a286309e05806" id="r_a61eabff8238d2b284c9a286309e05806"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a61eabff8238d2b284c9a286309e05806">HasHitHardPoint</a> () const</td></tr>
<tr class="memdesc:a61eabff8238d2b284c9a286309e05806"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the suspension hit its upper limit.  <br /></td></tr>
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<tr class="memitem:af1a126080ae277a8b3578b8f3f6854e7" id="r_af1a126080ae277a8b3578b8f3f6854e7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af1a126080ae277a8b3578b8f3f6854e7">GetSuspensionLambda</a> () const</td></tr>
<tr class="memdesc:af1a126080ae277a8b3578b8f3f6854e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the total impulse (N s) that was applied by the suspension.  <br /></td></tr>
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<tr class="memitem:acb42426249dba7e845b7ea288cda99dd" id="r_acb42426249dba7e845b7ea288cda99dd"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acb42426249dba7e845b7ea288cda99dd">GetLongitudinalLambda</a> () const</td></tr>
<tr class="memdesc:acb42426249dba7e845b7ea288cda99dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get total impulse (N s) applied along the forward direction of the wheel.  <br /></td></tr>
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<tr class="memitem:a3a6c1824707b2851548c01bb3bcaceec" id="r_a3a6c1824707b2851548c01bb3bcaceec"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3a6c1824707b2851548c01bb3bcaceec">GetLateralLambda</a> () const</td></tr>
<tr class="memdesc:a3a6c1824707b2851548c01bb3bcaceec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get total impulse (N s) applied along the sideways direction of the wheel.  <br /></td></tr>
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<tr class="memitem:aca0c965685dee3f84fb830d76a4a00ba" id="r_aca0c965685dee3f84fb830d76a4a00ba"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aca0c965685dee3f84fb830d76a4a00ba">SolveLongitudinalConstraintPart</a> (const <a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint, float inMinImpulse, float inMaxImpulse)</td></tr>
<tr class="memdesc:aca0c965685dee3f84fb830d76a4a00ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal function that should only be called by the controller. Used to apply impulses in the forward direction of the vehicle.  <br /></td></tr>
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<tr class="memitem:a155778dd99828ddbcc6b4e34305b40f5" id="r_a155778dd99828ddbcc6b4e34305b40f5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a155778dd99828ddbcc6b4e34305b40f5">SolveLateralConstraintPart</a> (const <a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint, float inMinImpulse, float inMaxImpulse)</td></tr>
<tr class="memdesc:a155778dd99828ddbcc6b4e34305b40f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal function that should only be called by the controller. Used to apply impulses in the sideways direction of the vehicle.  <br /></td></tr>
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<tr class="inherit_header pub_methods_class_non_copyable"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_methods_class_non_copyable')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_non_copyable.html">NonCopyable</a></td></tr>
<tr class="memitem:a809b6e4ade7ae32f6d248f2a3b783d45 inherit pub_methods_class_non_copyable" id="r_a809b6e4ade7ae32f6d248f2a3b783d45"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a809b6e4ade7ae32f6d248f2a3b783d45">NonCopyable</a> ()=default</td></tr>
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<tr class="memitem:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable" id="r_a501d34ffcc34b30de6d541887a901057"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a501d34ffcc34b30de6d541887a901057">NonCopyable</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
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<tr class="memitem:aaf9b12dcaae80c9d304df7a941d4e21f inherit pub_methods_class_non_copyable" id="r_aaf9b12dcaae80c9d304df7a941d4e21f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#aaf9b12dcaae80c9d304df7a941d4e21f">operator=</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a024cd676398378408f174ebdd8fefd6c" id="r_a024cd676398378408f174ebdd8fefd6c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_ref_const.html">RefConst</a>&lt; <a class="el" href="class_wheel_settings.html">WheelSettings</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a024cd676398378408f174ebdd8fefd6c">mSettings</a></td></tr>
<tr class="memdesc:a024cd676398378408f174ebdd8fefd6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configuration settings for this wheel.  <br /></td></tr>
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<tr class="memitem:a53ae6143cfd91eba78398b03f427c7ed" id="r_a53ae6143cfd91eba78398b03f427c7ed"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_body_i_d.html">BodyID</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a53ae6143cfd91eba78398b03f427c7ed">mContactBodyID</a></td></tr>
<tr class="memdesc:a53ae6143cfd91eba78398b03f427c7ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">ID of body for ground.  <br /></td></tr>
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<tr class="memitem:af93d7137c196e5dc6107963bdc06c5ba" id="r_af93d7137c196e5dc6107963bdc06c5ba"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_sub_shape_i_d.html">SubShapeID</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af93d7137c196e5dc6107963bdc06c5ba">mContactSubShapeID</a></td></tr>
<tr class="memdesc:af93d7137c196e5dc6107963bdc06c5ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sub shape ID for ground.  <br /></td></tr>
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<tr class="memitem:acb44fa757ea9d2447e1b2de4f65954ca" id="r_acb44fa757ea9d2447e1b2de4f65954ca"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_body.html">Body</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acb44fa757ea9d2447e1b2de4f65954ca">mContactBody</a> = nullptr</td></tr>
<tr class="memdesc:acb44fa757ea9d2447e1b2de4f65954ca"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_body.html">Body</a> for ground.  <br /></td></tr>
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<tr class="memitem:a49fc75e7639dbf0a484ccd9bf1968ae4" id="r_a49fc75e7639dbf0a484ccd9bf1968ae4"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a49fc75e7639dbf0a484ccd9bf1968ae4">mSuspensionLength</a></td></tr>
<tr class="memdesc:a49fc75e7639dbf0a484ccd9bf1968ae4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current length of the suspension.  <br /></td></tr>
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<tr class="memitem:ac30ace148260fc1280c40224cb51c34f" id="r_ac30ace148260fc1280c40224cb51c34f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac30ace148260fc1280c40224cb51c34f">mContactPosition</a></td></tr>
<tr class="memdesc:ac30ace148260fc1280c40224cb51c34f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Position of the contact point between wheel and ground.  <br /></td></tr>
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<tr class="memitem:a7d348b3098f9316f308173fe87c81783" id="r_a7d348b3098f9316f308173fe87c81783"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7d348b3098f9316f308173fe87c81783">mContactPointVelocity</a></td></tr>
<tr class="memdesc:a7d348b3098f9316f308173fe87c81783"><td class="mdescLeft">&#160;</td><td class="mdescRight">Velocity of the contact point (m / s, not relative to the wheel but in world space)  <br /></td></tr>
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<tr class="memitem:a1e753efe90d09796fa717079a15b6b59" id="r_a1e753efe90d09796fa717079a15b6b59"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1e753efe90d09796fa717079a15b6b59">mContactNormal</a></td></tr>
<tr class="memdesc:a1e753efe90d09796fa717079a15b6b59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normal of the contact point between wheel and ground.  <br /></td></tr>
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<tr class="memitem:a452fc2b42bb7fb3ffb296008ff19ff84" id="r_a452fc2b42bb7fb3ffb296008ff19ff84"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a452fc2b42bb7fb3ffb296008ff19ff84">mContactLongitudinal</a></td></tr>
<tr class="memdesc:a452fc2b42bb7fb3ffb296008ff19ff84"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_vector.html" title="Templatized vector class.">Vector</a> perpendicular to normal in the forward direction.  <br /></td></tr>
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<tr class="memitem:ad8cea661025b8c99b3fbd07f67880ebb" id="r_ad8cea661025b8c99b3fbd07f67880ebb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad8cea661025b8c99b3fbd07f67880ebb">mContactLateral</a></td></tr>
<tr class="memdesc:ad8cea661025b8c99b3fbd07f67880ebb"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_vector.html" title="Templatized vector class.">Vector</a> perpendicular to normal and longitudinal direction in the right direction.  <br /></td></tr>
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<tr class="memitem:aa6aeace443bfd6580ad54a938342ac67" id="r_aa6aeace443bfd6580ad54a938342ac67"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_real_8h.html#a6baabe9790f3842ab73110ab342c5c5e">Real</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa6aeace443bfd6580ad54a938342ac67">mAxlePlaneConstant</a></td></tr>
<tr class="memdesc:aa6aeace443bfd6580ad54a938342ac67"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for the contact plane of the axle, defined as ContactNormal . (WorldSpaceSuspensionPoint + SuspensionLength * WorldSpaceSuspensionDirection)  <br /></td></tr>
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<tr class="memitem:a201340ce33a37ff9eb3cc26cf8ae4cc8" id="r_a201340ce33a37ff9eb3cc26cf8ae4cc8"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a201340ce33a37ff9eb3cc26cf8ae4cc8">mAntiRollBarImpulse</a> = 0.0f</td></tr>
<tr class="memdesc:a201340ce33a37ff9eb3cc26cf8ae4cc8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of impulse applied to the suspension from the anti-rollbars.  <br /></td></tr>
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<tr class="memitem:ae6d6847e2825c5e6b1f3203d8fe559fa" id="r_ae6d6847e2825c5e6b1f3203d8fe559fa"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae6d6847e2825c5e6b1f3203d8fe559fa">mSteerAngle</a> = 0.0f</td></tr>
<tr class="memdesc:ae6d6847e2825c5e6b1f3203d8fe559fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation around the suspension direction, positive is to the left.  <br /></td></tr>
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<tr class="memitem:a240115cc48bddcf81b10c426c3802fe7" id="r_a240115cc48bddcf81b10c426c3802fe7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a240115cc48bddcf81b10c426c3802fe7">mAngularVelocity</a> = 0.0f</td></tr>
<tr class="memdesc:a240115cc48bddcf81b10c426c3802fe7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation speed of wheel, positive when the wheels cause the vehicle to move forwards (rad/s)  <br /></td></tr>
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<tr class="memitem:ad21c087228b643377f809e61c14fdf1d" id="r_ad21c087228b643377f809e61c14fdf1d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad21c087228b643377f809e61c14fdf1d">mAngle</a> = 0.0f</td></tr>
<tr class="memdesc:ad21c087228b643377f809e61c14fdf1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current rotation of the wheel (rad, [0, 2 pi])  <br /></td></tr>
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<tr class="memitem:a9e9df1e9246d38363edc02b9d1c81ef4" id="r_a9e9df1e9246d38363edc02b9d1c81ef4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_axis_constraint_part.html">AxisConstraintPart</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9e9df1e9246d38363edc02b9d1c81ef4">mSuspensionPart</a></td></tr>
<tr class="memdesc:a9e9df1e9246d38363edc02b9d1c81ef4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Controls movement up/down along the contact normal.  <br /></td></tr>
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<tr class="memitem:a568fed5d0dd04fd63020e9253801a34c" id="r_a568fed5d0dd04fd63020e9253801a34c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_axis_constraint_part.html">AxisConstraintPart</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a568fed5d0dd04fd63020e9253801a34c">mSuspensionMaxUpPart</a></td></tr>
<tr class="memdesc:a568fed5d0dd04fd63020e9253801a34c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a hard limit when reaching the minimal suspension length.  <br /></td></tr>
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<tr class="memitem:aad04d9e83a92376fb5ef078fbc1577bc" id="r_aad04d9e83a92376fb5ef078fbc1577bc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_axis_constraint_part.html">AxisConstraintPart</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aad04d9e83a92376fb5ef078fbc1577bc">mLongitudinalPart</a></td></tr>
<tr class="memdesc:aad04d9e83a92376fb5ef078fbc1577bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Controls movement forward/backward.  <br /></td></tr>
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<tr class="memitem:a3e466a6ec5a4dc839c86586fb0e0dd6c" id="r_a3e466a6ec5a4dc839c86586fb0e0dd6c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_axis_constraint_part.html">AxisConstraintPart</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3e466a6ec5a4dc839c86586fb0e0dd6c">mLateralPart</a></td></tr>
<tr class="memdesc:a3e466a6ec5a4dc839c86586fb0e0dd6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Controls movement sideways (slip)  <br /></td></tr>
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Friends</h2></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Base class for runtime data for a wheel, each <a class="el" href="class_vehicle_controller.html" title="Runtime data for interface that controls acceleration / deceleration of the vehicle.">VehicleController</a> can implement a derived class of this. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a1b32822acc30f1afc25f57de681c7389">&#9670;&#160;</a></span>Wheel()</h2>

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<p>Constructor / destructor. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa6087eae383e857b8615993388ba8a5f">&#9670;&#160;</a></span>~Wheel()</h2>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad2da83076a68424179c3928b123c086c">&#9670;&#160;</a></span>GetAngularVelocity()</h2>

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<p>Get the angular velocity (rad/s) for this wheel, note that positive means the wheel is rotating such that the car moves forward. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acc31f12c9bf9049d98397fc721219d10">&#9670;&#160;</a></span>GetContactBodyID()</h2>

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          <td class="memname"><a class="el" href="class_body_i_d.html">BodyID</a> Wheel::GetContactBodyID </td>
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<p>Returns the body ID of the body that this wheel is touching. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a23056c4f6164ec0b1e7a0448a54135c3">&#9670;&#160;</a></span>GetContactLateral()</h2>

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<p>Returns lateral direction (sideways direction) in world space (note by the time you call this the vehicle has moved) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4f4df6da668a8f3d147ee53a3c46910c">&#9670;&#160;</a></span>GetContactLongitudinal()</h2>

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<p>Returns longitudinal direction (direction along the wheel relative to floor) in world space (note by the time you call this the vehicle has moved) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaff3b5c0de2d6becbebbdbd886b2c7cf">&#9670;&#160;</a></span>GetContactNormal()</h2>

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<p>Returns the current contact normal in world space (note by the time you call this the vehicle has moved) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a909988d11cc3e43ba357a1f9b1d4f101">&#9670;&#160;</a></span>GetContactPointVelocity()</h2>

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<p>Velocity of the contact point (m / s, not relative to the wheel but in world space) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#afe7cd7933c99164aefd66c9d5fe2a3eb">&#9670;&#160;</a></span>GetContactPosition()</h2>

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<p>Returns the current contact position in world space (note by the time you call this the vehicle has moved) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4ed45e80dae82a05fe3a07bd8f81d96f">&#9670;&#160;</a></span>GetContactSubShapeID()</h2>

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<p>Returns the sub shape ID where we're contacting the body. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3a6c1824707b2851548c01bb3bcaceec">&#9670;&#160;</a></span>GetLateralLambda()</h2>

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<p>Get total impulse (N s) applied along the sideways direction of the wheel. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acb42426249dba7e845b7ea288cda99dd">&#9670;&#160;</a></span>GetLongitudinalLambda()</h2>

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<p>Get total impulse (N s) applied along the forward direction of the wheel. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a06226466b8c4ff0f65ae329bb3b7a3b2">&#9670;&#160;</a></span>GetRotationAngle()</h2>

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<p>Get the current rotation angle of the wheel in radians [0, 2 pi]. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab93b1087453249915b72e74733ea2af3">&#9670;&#160;</a></span>GetSettings()</h2>

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<p>Get settings for the wheel. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1972924bef7c43ef8544a7ba2dc28c07">&#9670;&#160;</a></span>GetSteerAngle()</h2>

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<p>Get the current steer angle of the wheel in radians [-pi, pi], positive is to the left. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af1a126080ae277a8b3578b8f3f6854e7">&#9670;&#160;</a></span>GetSuspensionLambda()</h2>

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<p>Get the total impulse (N s) that was applied by the suspension. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad03e749022ce451237c8731a7b59eb79">&#9670;&#160;</a></span>GetSuspensionLength()</h2>

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<p>Get the length of the suspension for a wheel (m) relative to the suspension attachment point (hard point) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad5ab9bb3ed8151044ad41de572945eac">&#9670;&#160;</a></span>HasContact()</h2>

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<p>Returns true if the wheel is touching an object. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a61eabff8238d2b284c9a286309e05806">&#9670;&#160;</a></span>HasHitHardPoint()</h2>

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<p>Check if the suspension hit its upper limit. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a244412d3b7d9216cdf7d8f364d128b60">&#9670;&#160;</a></span>SetAngularVelocity()</h2>

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<p>Update the angular velocity (rad/s) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaa68b8841db1daed297d8c64ed19bef2">&#9670;&#160;</a></span>SetRotationAngle()</h2>

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          <td class="memname">void Wheel::SetRotationAngle </td>
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<p>Set the current rotation angle of the wheel in radians [0, 2 pi]. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7efe681ffa418ed0e1724fbc1fef7ec8">&#9670;&#160;</a></span>SetSteerAngle()</h2>

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<p>Set the current steer angle of the wheel in radians [-pi, pi]. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a155778dd99828ddbcc6b4e34305b40f5">&#9670;&#160;</a></span>SolveLateralConstraintPart()</h2>

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<p>Internal function that should only be called by the controller. Used to apply impulses in the sideways direction of the vehicle. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aca0c965685dee3f84fb830d76a4a00ba">&#9670;&#160;</a></span>SolveLongitudinalConstraintPart()</h2>

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<p>Internal function that should only be called by the controller. Used to apply impulses in the forward direction of the vehicle. </p>

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<h2 class="groupheader">Friends And Related Symbol Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a30b73bf12f0dea921ce21318d08cb7c0">&#9670;&#160;</a></span>VehicleConstraint</h2>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad21c087228b643377f809e61c14fdf1d">&#9670;&#160;</a></span>mAngle</h2>

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<p>Current rotation of the wheel (rad, [0, 2 pi]) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a240115cc48bddcf81b10c426c3802fe7">&#9670;&#160;</a></span>mAngularVelocity</h2>

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<p>Rotation speed of wheel, positive when the wheels cause the vehicle to move forwards (rad/s) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a201340ce33a37ff9eb3cc26cf8ae4cc8">&#9670;&#160;</a></span>mAntiRollBarImpulse</h2>

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<p>Amount of impulse applied to the suspension from the anti-rollbars. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa6aeace443bfd6580ad54a938342ac67">&#9670;&#160;</a></span>mAxlePlaneConstant</h2>

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<p>Constant for the contact plane of the axle, defined as ContactNormal . (WorldSpaceSuspensionPoint + SuspensionLength * WorldSpaceSuspensionDirection) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acb44fa757ea9d2447e1b2de4f65954ca">&#9670;&#160;</a></span>mContactBody</h2>

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<p><a class="el" href="class_body.html">Body</a> for ground. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a53ae6143cfd91eba78398b03f427c7ed">&#9670;&#160;</a></span>mContactBodyID</h2>

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<p>ID of body for ground. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad8cea661025b8c99b3fbd07f67880ebb">&#9670;&#160;</a></span>mContactLateral</h2>

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<p><a class="el" href="class_vector.html" title="Templatized vector class.">Vector</a> perpendicular to normal and longitudinal direction in the right direction. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a452fc2b42bb7fb3ffb296008ff19ff84">&#9670;&#160;</a></span>mContactLongitudinal</h2>

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<p><a class="el" href="class_vector.html" title="Templatized vector class.">Vector</a> perpendicular to normal in the forward direction. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1e753efe90d09796fa717079a15b6b59">&#9670;&#160;</a></span>mContactNormal</h2>

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<p>Normal of the contact point between wheel and ground. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7d348b3098f9316f308173fe87c81783">&#9670;&#160;</a></span>mContactPointVelocity</h2>

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<p>Velocity of the contact point (m / s, not relative to the wheel but in world space) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac30ace148260fc1280c40224cb51c34f">&#9670;&#160;</a></span>mContactPosition</h2>

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<p>Position of the contact point between wheel and ground. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af93d7137c196e5dc6107963bdc06c5ba">&#9670;&#160;</a></span>mContactSubShapeID</h2>

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<p>Sub shape ID for ground. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3e466a6ec5a4dc839c86586fb0e0dd6c">&#9670;&#160;</a></span>mLateralPart</h2>

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<p>Controls movement sideways (slip) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aad04d9e83a92376fb5ef078fbc1577bc">&#9670;&#160;</a></span>mLongitudinalPart</h2>

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<p>Controls movement forward/backward. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a024cd676398378408f174ebdd8fefd6c">&#9670;&#160;</a></span>mSettings</h2>

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<p>Configuration settings for this wheel. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae6d6847e2825c5e6b1f3203d8fe559fa">&#9670;&#160;</a></span>mSteerAngle</h2>

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<p>Rotation around the suspension direction, positive is to the left. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a49fc75e7639dbf0a484ccd9bf1968ae4">&#9670;&#160;</a></span>mSuspensionLength</h2>

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<p>Current length of the suspension. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a568fed5d0dd04fd63020e9253801a34c">&#9670;&#160;</a></span>mSuspensionMaxUpPart</h2>

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<p>Adds a hard limit when reaching the minimal suspension length. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9e9df1e9246d38363edc02b9d1c81ef4">&#9670;&#160;</a></span>mSuspensionPart</h2>

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<p>Controls movement up/down along the contact normal. </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>Jolt/Physics/Vehicle/<a class="el" href="_wheel_8h_source.html">Wheel.h</a></li>
<li>Jolt/Physics/Vehicle/<a class="el" href="_wheel_8cpp.html">Wheel.cpp</a></li>
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