Physics::Component::WheelSettings Struct Reference

Settings for an individual wheel in a vehicle. More...

#include <WheelSettings.hpp>

Static Public Member Functions
static WheelSettings	CreateFrontWheel ()
	Create default front wheel settings with steering.
static WheelSettings	CreateRearWheel ()
	Create default rear wheel settings without steering.

Public Attributes
float	radius = 0.3f
	Wheel radius in meters.
float	width = 0.1f
	Wheel width in meters (for cylinder collider).
float	suspensionMaxLength = 0.3f
	Maximum suspension extension length in meters.
float	suspensionMinLength = 0.0f
	Minimum suspension compression length in meters (usually 0).
float	suspensionFrequency = 1.5f
float	suspensionDamping = 0.5f
float	maxSteerAngle = 0.0f
	Maximum steering angle in radians (0 for non-steered wheels).
float	inertia = 0.9f
float	angularDamping = 0.2f
std::vector< FrictionCurvePoint >	longitudinalFriction
std::vector< FrictionCurvePoint >	lateralFriction
float	maxBrakeTorque = 1500.0f
	Maximum brake torque (Nm) that can be applied to this wheel.
float	maxHandBrakeTorque = 4000.0f
	Maximum handbrake torque (Nm) - usually only applied to rear wheels.

Detailed Description

Settings for an individual wheel in a vehicle.

Defines physical properties of a single wheel including suspension, dimensions, and friction characteristics.

Member Function Documentation

CreateFrontWheel()

WheelSettings Physics::Component::WheelSettings::CreateFrontWheel ( )

inlinestatic

Create default front wheel settings with steering.

CreateRearWheel()

WheelSettings Physics::Component::WheelSettings::CreateRearWheel ( )

inlinestatic

Create default rear wheel settings without steering.

Member Data Documentation

angularDamping

float Physics::Component::WheelSettings::angularDamping = 0.2f

Angular damping factor: dw/dt = -c * w Value should be zero or positive, usually close to 0

inertia

float Physics::Component::WheelSettings::inertia = 0.9f

Moment of inertia (kg m^2) of the wheel For a cylinder: I = 0.5 * M * R^2 Example: 0.9 for wheel with mass 20kg and radius 0.3m

lateralFriction

std::vector<FrictionCurvePoint> Physics::Component::WheelSettings::lateralFriction

Initial value:

                            = {
    {0.0f,  0.0f}, 
    {3.0f,  1.2f}, 
    {20.0f, 1.0f}  
}

Lateral friction curve (sideways/slip angle direction) X-axis: Slip angle in degrees (angle between velocity and tire direction) Y-axis: Friction coefficient (typically 0-1.2) Default: realistic tire slip angle curve

longitudinalFriction

std::vector<FrictionCurvePoint> Physics::Component::WheelSettings::longitudinalFriction

Initial value:

                                 = {
    {0.0f,  0.0f}, 
    {0.06f, 1.2f}, 
    {0.2f,  1.0f}  
}

Longitudinal friction curve (forward/backward direction) X-axis: Slip ratio = (omega_wheel * r_wheel - v_longitudinal) / |v_longitudinal| Y-axis: Friction coefficient (typically 0-1.2) Default: realistic tire slip curve with peak at 6% slip

maxBrakeTorque

float Physics::Component::WheelSettings::maxBrakeTorque = 1500.0f

Maximum brake torque (Nm) that can be applied to this wheel.

maxHandBrakeTorque

float Physics::Component::WheelSettings::maxHandBrakeTorque = 4000.0f

Maximum handbrake torque (Nm) - usually only applied to rear wheels.

maxSteerAngle

float Physics::Component::WheelSettings::maxSteerAngle = 0.0f

Maximum steering angle in radians (0 for non-steered wheels).

radius

float Physics::Component::WheelSettings::radius = 0.3f

Wheel radius in meters.

suspensionDamping

float Physics::Component::WheelSettings::suspensionDamping = 0.5f

Suspension damping ratio (0 = no damping, 1 = critical damping) Typical car values are 0.3-0.7

suspensionFrequency

float Physics::Component::WheelSettings::suspensionFrequency = 1.5f

Suspension spring frequency in Hz (typically 1.0-2.0 for cars) Higher values = stiffer suspension

suspensionMaxLength

float Physics::Component::WheelSettings::suspensionMaxLength = 0.3f

Maximum suspension extension length in meters.

suspensionMinLength

float Physics::Component::WheelSettings::suspensionMinLength = 0.0f

Minimum suspension compression length in meters (usually 0).

width

float Physics::Component::WheelSettings::width = 0.1f

Wheel width in meters (for cylinder collider).

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The documentation for this struct was generated from the following file:

• src/plugin/physics/src/component/WheelSettings.hpp