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> Unreal Engine API Reference > Runtime > ChaosVehiclesCore > FSimpleWheelSim

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FSimpleWheelSim

Wheel instance data changes during the simulation

Windows

MacOS

Linux

Inheritance Hierarchy

TVehicleSystem

FSimpleWheelSim

References

Module	ChaosVehiclesCore
Header	/Engine/Source/Runtime/Experimental/ChaosVehicles/ChaosVehiclesCore/Public/WheelSystem.h
Include	#include "WheelSystem.h"

Syntax

class FSimpleWheelSim : public TVehicleSystem< FSimpleWheelConfig >

Remarks

Wheel instance data changes during the simulation

Variables

	Name	Description
float	AngularPosition
float	AppliedLinearBrakeForce
float	AppliedLinearDriveForce	Debug for now
bool	bInContact
float	BrakeTorque
float	DriveTorque	In.
FVector	ForceFromFriction
float	ForceIntoSurface
FVector	GroundVelocityVector
float	LateralAdhesiveLimit
float	LongitudinalAdhesiveLimit
float	MassPerWheel
float	MaxOmega
float	Omega
float	Re
float	SideSlipModifier
float	SlipAngle
float	SlipVelocity
float	Spin
float	SteeringAngle
float	SurfaceFriction
float	Sx
uint32	WheelIndex

Constructors

	Name	Description
	FSimpleWheelSim ( const FSimpleWheelConfig* Setu... )

Functions

	Name	Description
float	GetAngularPosition()	Get the angular position of the wheel [radians]
float	GetAngularVelocity()	Get the angular velocity of the wheel [radians/sec]
float	GetBrakeTorque()	Get the braking torque being applied to the wheel [N.m]
float	GetDriveTorque()	Get the drive torque being applied to the wheel [N.m]
float	GetEffectiveRadius()	Get the radius of the wheel [cm]
FVector	GetForceFromFriction()	Return the calculated available friction force
float	GetNormalisedFrictionFromSlipAngle ( float SlipIn )	Amount of friction we can expect after taking into account the amount the wheel slips
float	GetNormalizedLateralSlip()
float	GetNormalizedLongitudinalSlip()	Get the current longitudinal slip value [0 no slip - using static friction, 1 full slip - using dynamic friction]
float	GetRoadSpeed()	Get the road speed at the wheel
float	GetSkidMagnitude()	Get the effective ground speed along the lateral wheel axis positive if wheel is faster than effective ground speed, negative if wheel is slower
float	GetSlipAngle()	Get the slip angle for this wheel - angle between wheel forward axis and velocity vector [degrees]
float	GetSlipMagnitude()	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
float	GetSteeringAngle()
float	GetSurfaceFriction()	Get the friction coefficient of the surface in contact with the wheel
float	GetWheelGroundSpeed()	Get the linear ground speed of the wheel based on its current rotational speed
float	GetWheelLoadForce()	Get the magnitude of the force pressing the wheel into the terrain
float	GetWheelRPM()	Get the wheel RPM [revolutions per minute]
bool	InContact()	Is the wheel in contact with the terrain or another object
bool	IsSkidding()
bool	IsSlipping()
void	SetBrakeTorque ( float BrakeTorqueIn )	Set the braking torque - decelerating rotational force
void	SetDriveTorque ( float EngineTorqueIn )	Set the drive torque - accelerating rotational force
void	SetMassPerWheel ( float VehicleMassPerWheel )
void	SetMatchingSpeed ( float LinearMetersPerSecondIn )	Set wheel rotational speed to match the specified linear forwards speed
void	SetMaxOmega ( float InMaxOmega )
void	SetOnGround ( bool OnGround )
void	SetSteeringAngle ( float InAngle )
void	SetSurfaceFriction ( float InFriction )	Set the friction coefficient of the surface under the wheel
void	SetVehicleGroundSpeed ( FVector& VIn )	Set the vehicle's speed at the wheels location in local wheel coords
void	SetWheelIndex ( uint32 InIndex )
void	SetWheelLoadForce ( float WheelLoadForceIn )	Set the force pressing the wheel into the terrain - from suspension
void	SetWheelRadius ( float NewRadius )	Set the wheel radius - can change dynamically during simulation if desired
void	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

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