VehicleWheel (jMonkeyEngine3)

java.lang.Object
- com.jme3.bullet.objects.VehicleWheel

All Implemented Interfaces:

Savable
```
public class VehicleWheel
extends java.lang.Object
implements Savable
```
Stores info about one wheel of a PhysicsVehicle

Field Summary

Fields
Modifier and Type	Field and Description
`protected Vector3f`	`axle`
`protected Vector3f`	`direction`
`protected float`	`frictionSlip`
`protected boolean`	`frontWheel`
`protected Vector3f`	`location`
`protected float`	`maxSuspensionForce`
`protected float`	`maxSuspensionTravelCm`
`protected float`	`radius`
`protected float`	`restLength`
`protected float`	`rollInfluence`
`protected float`	`suspensionStiffness`
`protected Quaternion`	`tmp_inverseWorldRotation`
`protected Matrix3f`	`tmp_Matrix`
`protected com.bulletphysics.dynamics.vehicle.WheelInfo`	`wheelInfo`
`protected float`	`wheelsDampingCompression`
`protected float`	`wheelsDampingRelaxation`
`protected Spatial`	`wheelSpatial`
`protected Vector3f`	`wheelWorldLocation`
`protected Quaternion`	`wheelWorldRotation`

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`VehicleWheel()`
	`VehicleWheel(Spatial spat, Vector3f location, Vector3f direction, Vector3f axle, float restLength, float radius, boolean frontWheel)`
	`VehicleWheel(Vector3f location, Vector3f direction, Vector3f axle, float restLength, float radius, boolean frontWheel)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`applyWheelTransform()`
`Vector3f`	`getAxle()`
`Vector3f`	`getCollisionLocation()` returns the location where the wheel collides with the ground (world space)
`Vector3f`	`getCollisionLocation(Vector3f vec)` returns the location where the wheel collides with the ground (world space)
`Vector3f`	`getCollisionNormal()` returns the normal where the wheel collides with the ground (world space)
`Vector3f`	`getCollisionNormal(Vector3f vec)` returns the normal where the wheel collides with the ground (world space)
`float`	`getDeltaRotation()` returns how many degrees the wheel has turned since the last physics step.
`Vector3f`	`getDirection()`
`float`	`getFrictionSlip()`
`PhysicsCollisionObject`	`getGroundObject()` returns the object this wheel is in contact with or null if no contact
`Vector3f`	`getLocation()`
`float`	`getMaxSuspensionForce()`
`float`	`getMaxSuspensionTravelCm()`
`float`	`getRadius()`
`float`	`getRestLength()`
`float`	`getRollInfluence()`
`float`	`getSkidInfo()` returns how much the wheel skids on the ground (for skid sounds/smoke etc.) 0.0 = wheels are sliding, 1.0 = wheels have traction.
`float`	`getSuspensionStiffness()`
`com.bulletphysics.dynamics.vehicle.WheelInfo`	`getWheelInfo()`
`float`	`getWheelsDampingCompression()`
`float`	`getWheelsDampingRelaxation()`
`Spatial`	`getWheelSpatial()`
`void`	`getWheelWorldLocation(Vector3f store)` write the content of the wheelWorldLocation into the store
`void`	`getWheelWorldRotation(Quaternion store)` write the content of the wheelWorldRotation into the store
`boolean`	`isApplyLocal()`
`boolean`	`isFrontWheel()`
`void`	`read(JmeImporter im)`
`void`	`setApplyLocal(boolean applyLocal)`
`void`	`setFrictionSlip(float frictionSlip)` the coefficient of friction between the tyre and the ground.
`void`	`setFrontWheel(boolean frontWheel)`
`void`	`setMaxSuspensionForce(float maxSuspensionForce)` The maximum suspension force, raise this above the default 6000 if your suspension cannot handle the weight of your vehicle.
`void`	`setMaxSuspensionTravelCm(float maxSuspensionTravelCm)` the maximum distance the suspension can be compressed (centimetres)
`void`	`setRadius(float radius)`
`void`	`setRestLength(float restLength)`
`void`	`setRollInfluence(float rollInfluence)` reduces the rolling torque applied from the wheels that cause the vehicle to roll over.
`void`	`setSuspensionStiffness(float suspensionStiffness)` the stiffness constant for the suspension.
`void`	`setWheelInfo(com.bulletphysics.dynamics.vehicle.WheelInfo wheelInfo)`
`void`	`setWheelsDampingCompression(float wheelsDampingCompression)` the damping coefficient for when the suspension is compressed.
`void`	`setWheelsDampingRelaxation(float wheelsDampingRelaxation)` the damping coefficient for when the suspension is expanding.
`void`	`setWheelSpatial(Spatial wheelSpatial)`
`void`	`updatePhysicsState()`
`void`	`write(JmeExporter ex)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - wheelInfo
```
protected com.bulletphysics.dynamics.vehicle.WheelInfo wheelInfo
```
  - frontWheel
```
protected boolean frontWheel
```
  - location
```
protected Vector3f location
```
  - direction
```
protected Vector3f direction
```
  - axle
```
protected Vector3f axle
```
  - suspensionStiffness
```
protected float suspensionStiffness
```
  - wheelsDampingRelaxation
```
protected float wheelsDampingRelaxation
```
  - wheelsDampingCompression
```
protected float wheelsDampingCompression
```
  - frictionSlip
```
protected float frictionSlip
```
  - rollInfluence
```
protected float rollInfluence
```
  - maxSuspensionTravelCm
```
protected float maxSuspensionTravelCm
```
  - maxSuspensionForce
```
protected float maxSuspensionForce
```
  - radius
```
protected float radius
```
  - restLength
```
protected float restLength
```
  - wheelWorldLocation
```
protected Vector3f wheelWorldLocation
```
  - wheelWorldRotation
```
protected Quaternion wheelWorldRotation
```
  - wheelSpatial
```
protected Spatial wheelSpatial
```
  - tmp_Matrix
```
protected Matrix3f tmp_Matrix
```
  - tmp_inverseWorldRotation
```
protected final Quaternion tmp_inverseWorldRotation
```
- Constructor Detail
  - VehicleWheel
```
protected VehicleWheel()
```
  - VehicleWheel
```
public VehicleWheel(Spatial spat,
                    Vector3f location,
                    Vector3f direction,
                    Vector3f axle,
                    float restLength,
                    float radius,
                    boolean frontWheel)
```
  - VehicleWheel
```
public VehicleWheel(Vector3f location,
                    Vector3f direction,
                    Vector3f axle,
                    float restLength,
                    float radius,
                    boolean frontWheel)
```
- Method Detail
  - updatePhysicsState
```
public void updatePhysicsState()
```
  - applyWheelTransform
```
public void applyWheelTransform()
```
  - getWheelInfo
```
public com.bulletphysics.dynamics.vehicle.WheelInfo getWheelInfo()
```
  - setWheelInfo
```
public void setWheelInfo(com.bulletphysics.dynamics.vehicle.WheelInfo wheelInfo)
```
  - isFrontWheel
```
public boolean isFrontWheel()
```
  - setFrontWheel
```
public void setFrontWheel(boolean frontWheel)
```
  - getLocation
```
public Vector3f getLocation()
```
  - getDirection
```
public Vector3f getDirection()
```
  - getAxle
```
public Vector3f getAxle()
```
  - getSuspensionStiffness
```
public float getSuspensionStiffness()
```
  - setSuspensionStiffness
```
public void setSuspensionStiffness(float suspensionStiffness)
```
    the stiffness constant for the suspension. 10.0 - Offroad buggy, 50.0 - Sports car, 200.0 - F1 Car
    
    Parameters:
    
    suspensionStiffness - the desired stiffness coefficient (10→off-road buggy, 50→sports car, 200→Formula-1 race car, default=20)
  - getWheelsDampingRelaxation
```
public float getWheelsDampingRelaxation()
```
  - setWheelsDampingRelaxation
```
public void setWheelsDampingRelaxation(float wheelsDampingRelaxation)
```
    the damping coefficient for when the suspension is expanding. See the comments for setWheelsDampingCompression for how to set k.
    
    Parameters:
    
    wheelsDampingRelaxation - the desired damping coefficient (default=2.3)
  - getWheelsDampingCompression
```
public float getWheelsDampingCompression()
```
  - setWheelsDampingCompression
```
public void setWheelsDampingCompression(float wheelsDampingCompression)
```
    the damping coefficient for when the suspension is compressed. Set to k * 2.0 * FastMath.sqrt(m_suspensionStiffness) so k is proportional to critical damping.
    k = 0.0 undamped/bouncy, k = 1.0 critical damping
    0.1 to 0.3 are good values
    
    Parameters:
    
    wheelsDampingCompression - the desired damping coefficient (default=4.4)
  - getFrictionSlip
```
public float getFrictionSlip()
```
  - setFrictionSlip
```
public void setFrictionSlip(float frictionSlip)
```
    the coefficient of friction between the tyre and the ground. Should be about 0.8 for realistic cars, but can be increased for better handling. Set large (10000.0) for kart racers
    
    Parameters:
    
    frictionSlip - the desired coefficient of friction between tyre and ground (0.8→realistic car, 10000→kart racer, default=10.5)
  - getRollInfluence
```
public float getRollInfluence()
```
  - setRollInfluence
```
public void setRollInfluence(float rollInfluence)
```
    reduces the rolling torque applied from the wheels that cause the vehicle to roll over. This is a bit of a hack, but it's quite effective. 0.0 = no roll, 1.0 = physical behaviour. If m_frictionSlip is too high, you'll need to reduce this to stop the vehicle rolling over. You should also try lowering the vehicle's centre of mass
    
    Parameters:
    
    rollInfluence - the rollInfluence to set
  - getMaxSuspensionTravelCm
```
public float getMaxSuspensionTravelCm()
```
  - setMaxSuspensionTravelCm
```
public void setMaxSuspensionTravelCm(float maxSuspensionTravelCm)
```
    the maximum distance the suspension can be compressed (centimetres)
    
    Parameters:
    
    maxSuspensionTravelCm - the desired maximum amount the suspension can be compressed or expanded, relative to its rest length (in hundredths of a physics-space unit, default=500)
  - getMaxSuspensionForce
```
public float getMaxSuspensionForce()
```
  - setMaxSuspensionForce
```
public void setMaxSuspensionForce(float maxSuspensionForce)
```
    The maximum suspension force, raise this above the default 6000 if your suspension cannot handle the weight of your vehicle.
    
    Parameters:
    
    maxSuspensionForce - the desired maximum force per wheel (default=6000)
  - getRadius
```
public float getRadius()
```
  - setRadius
```
public void setRadius(float radius)
```
  - getRestLength
```
public float getRestLength()
```
  - setRestLength
```
public void setRestLength(float restLength)
```
  - getGroundObject
```
public PhysicsCollisionObject getGroundObject()
```
    returns the object this wheel is in contact with or null if no contact
    
    Returns:
    
    the PhysicsCollisionObject (PhysicsRigidBody, PhysicsGhostObject)
  - getCollisionLocation
```
public Vector3f getCollisionLocation(Vector3f vec)
```
    returns the location where the wheel collides with the ground (world space)
    
    Parameters:
    
    vec - storage for the result (not null, modified)
    
    Returns:
    
    a location vector (in physics-space coordinates)
  - getCollisionLocation
```
public Vector3f getCollisionLocation()
```
    returns the location where the wheel collides with the ground (world space)
    
    Returns:
    
    a new location vector (in physics-space coordinates)
  - getCollisionNormal
```
public Vector3f getCollisionNormal(Vector3f vec)
```
    returns the normal where the wheel collides with the ground (world space)
    
    Parameters:
    
    vec - storage for the result (not null, modified)
    
    Returns:
    
    a unit vector (in physics-space coordinates)
  - getCollisionNormal
```
public Vector3f getCollisionNormal()
```
    returns the normal where the wheel collides with the ground (world space)
    
    Returns:
    
    a new unit vector (in physics-space coordinates)
  - getSkidInfo
```
public float getSkidInfo()
```
    returns how much the wheel skids on the ground (for skid sounds/smoke etc.)
    0.0 = wheels are sliding, 1.0 = wheels have traction.
    
    Returns:
    
    the relative amount of traction (0→wheel is sliding, 1→wheel has full traction)
  - getDeltaRotation
```
public float getDeltaRotation()
```
    returns how many degrees the wheel has turned since the last physics step.
    
    Returns:
    
    the rotation angle (in radians)
  - read
```
public void read(JmeImporter im)
          throws java.io.IOException
```
    Specified by:
    
    read in interface Savable
    
    Throws:
    
    java.io.IOException
  - write
```
public void write(JmeExporter ex)
           throws java.io.IOException
```
    Specified by:
    
    write in interface Savable
    
    Throws:
    
    java.io.IOException
  - getWheelSpatial
```
public Spatial getWheelSpatial()
```
    Returns:
    
    the wheelSpatial
  - setWheelSpatial
```
public void setWheelSpatial(Spatial wheelSpatial)
```
    Parameters:
    
    wheelSpatial - the wheelSpatial to set
  - isApplyLocal
```
public boolean isApplyLocal()
```
  - setApplyLocal
```
public void setApplyLocal(boolean applyLocal)
```
  - getWheelWorldRotation
```
public void getWheelWorldRotation(Quaternion store)
```
    write the content of the wheelWorldRotation into the store
    
    Parameters:
    
    store - storage for the result (not null, modified)
  - getWheelWorldLocation
```
public void getWheelWorldLocation(Vector3f store)
```
    write the content of the wheelWorldLocation into the store
    
    Parameters:
    
    store - storage for the result (not null, modified)

Class VehicleWheel

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

wheelInfo

frontWheel

location

direction

axle

suspensionStiffness

wheelsDampingRelaxation

wheelsDampingCompression

frictionSlip

rollInfluence

maxSuspensionTravelCm

maxSuspensionForce

radius

restLength

wheelWorldLocation

wheelWorldRotation

wheelSpatial

tmp_Matrix

tmp_inverseWorldRotation

Constructor Detail

VehicleWheel

VehicleWheel

VehicleWheel

Method Detail

updatePhysicsState

applyWheelTransform

getWheelInfo

setWheelInfo

isFrontWheel

setFrontWheel

getLocation

getDirection

getAxle

getSuspensionStiffness

setSuspensionStiffness

getWheelsDampingRelaxation

setWheelsDampingRelaxation

getWheelsDampingCompression

setWheelsDampingCompression

getFrictionSlip

setFrictionSlip

getRollInfluence

setRollInfluence

getMaxSuspensionTravelCm

setMaxSuspensionTravelCm

getMaxSuspensionForce

setMaxSuspensionForce

getRadius

setRadius

getRestLength

setRestLength

getGroundObject

getCollisionLocation

getCollisionLocation

getCollisionNormal

getCollisionNormal

getSkidInfo

getDeltaRotation

read

write

getWheelSpatial

setWheelSpatial

isApplyLocal

setApplyLocal

getWheelWorldRotation

getWheelWorldLocation