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RapyutaSimulationPlugins
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Wheel property for the robot, used to store configurations for runtime #UChaosVehicleWheel setup. More...
#include <RREntityStructs.h>
Public Member Functions | |
| FRRRobotWheelProperty () | |
| FRRRobotWheelProperty (FString InWheelName) | |
| void | PrintSelf () const |
Public Attributes | |
| FString | WheelName |
| EAxleType | AxleType = EAxleType::Undefined |
| If left undefined then the bAffectedByEngine value is used, if defined then bAffectedByEngine is ignored and the. More... | |
| FVector | Offset = FVector::ZeroVector |
| If BoneName is specified, offset the wheel from the bone's location. More... | |
| float | WheelRadius = 0.f |
| [cm] More... | |
| float | WheelWidth = 0.f |
| [cm] More... | |
| float | CorneringStiffness = 1000.f |
| float | FrictionForceMultiplier = 2.f |
| float | SideSlipModifier = 1.f |
| Wheel Lateral Skid Grip Loss, lower number less grip on skid. More... | |
| float | SlipThreshold = 20.f |
| Wheel Longitudinal Slip Threshold. More... | |
| float | SkidThreshold = 20.f |
| Wheel Lateral Skid Threshold. More... | |
| bool | bAffectedBySteering = false |
| bool | bAffectedByBrake = true |
| bool | bAffectedByHandbrake = false |
| bool | bAffectedByEngine = false |
| Whether engine should power this wheel. More... | |
| bool | bABSEnabled = false |
| Advanced Braking System enabled. More... | |
| bool | bTractionControlEnabled = false |
| Straight Line Traction Control Enabled. More... | |
| ETorqueCombineMethod | ExternalTorqueCombineMethod = ETorqueCombineMethod::None |
| Determines how the SetDriveTorque/SetBrakeTorque inputs are combined with the internal torques. More... | |
| FRuntimeFloatCurve | LateralSlipGraph |
| FVector | SuspensionAxis = FVector(0.f, 0.f, -1.f) |
| Local body direction in which where suspension forces are applied (typically along -Z-axis) More... | |
| FVector | SuspensionForceOffset = FVector::ZeroVector |
| Vertical offset from where suspension forces are applied (along Z-axis) More... | |
| float | SuspensionMaxRaise = 10.f |
| How far the wheel can go above the resting position. More... | |
| float | SuspensionMaxDrop = 10.f |
| How far the wheel can drop below the resting position. More... | |
| float | SuspensionDampingRatio = 0.5f |
| int8 | SuspensionSmoothing = 0 |
| Smooth suspension [0-off, 10-max] - Warning might cause momentary visual inter-penetration of the wheel against. More... | |
| float | WheelLoadRatio = 0.5f |
| Amount wheel load effects wheel friction. More... | |
| float | SpringRate = 250.0f |
| Spring Force (N/m) More... | |
| float | SpringPreload = 50.f |
| Spring Preload (N/m) More... | |
| float | RollbarScaling = 0.15f |
| Anti-roll effect. More... | |
| ESweepShape | SweepShape = ESweepShape::Raycast |
| Whether wheel suspension considers simple, complex, or both. More... | |
| ESweepType | SweepType = ESweepType::SimpleSweep |
| Whether wheel suspension considers simple, complex, or both. More... | |
| float | MaxSteerAngleDeg = 50.f |
| [deg] More... | |
| float | MaxBrakeTorque = 1500.f |
| [Nm] More... | |
| float | MaxHandBrakeTorque = 3000.f |
| Max handbrake brake torque for this wheel (Nm). A handbrake should have a stronger brake torque. More... | |
Wheel property for the robot, used to store configurations for runtime #UChaosVehicleWheel setup.
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| EAxleType FRRRobotWheelProperty::AxleType = EAxleType::Undefined |
If left undefined then the bAffectedByEngine value is used, if defined then bAffectedByEngine is ignored and the.
differential setup on the vehicle defines which wheels get power from the engine
| bool FRRRobotWheelProperty::bABSEnabled = false |
Advanced Braking System enabled.
| bool FRRRobotWheelProperty::bAffectedByBrake = true |
| bool FRRRobotWheelProperty::bAffectedByEngine = false |
Whether engine should power this wheel.
| bool FRRRobotWheelProperty::bAffectedByHandbrake = false |
| bool FRRRobotWheelProperty::bAffectedBySteering = false |
| bool FRRRobotWheelProperty::bTractionControlEnabled = false |
Straight Line Traction Control Enabled.
| float FRRRobotWheelProperty::CorneringStiffness = 1000.f |
| ETorqueCombineMethod FRRRobotWheelProperty::ExternalTorqueCombineMethod = ETorqueCombineMethod::None |
Determines how the SetDriveTorque/SetBrakeTorque inputs are combined with the internal torques.
| float FRRRobotWheelProperty::FrictionForceMultiplier = 2.f |
| FRuntimeFloatCurve FRRRobotWheelProperty::LateralSlipGraph |
| float FRRRobotWheelProperty::MaxBrakeTorque = 1500.f |
| float FRRRobotWheelProperty::MaxHandBrakeTorque = 3000.f |
Max handbrake brake torque for this wheel (Nm). A handbrake should have a stronger brake torque.
than the brake. This will be ignored for wheels that are not affected by the handbrake. [Nm]
| float FRRRobotWheelProperty::MaxSteerAngleDeg = 50.f |
[deg]
| FVector FRRRobotWheelProperty::Offset = FVector::ZeroVector |
If BoneName is specified, offset the wheel from the bone's location.
Otherwise this offsets the wheel from the vehicle's origin. [cm]
| float FRRRobotWheelProperty::RollbarScaling = 0.15f |
Anti-roll effect.
| float FRRRobotWheelProperty::SideSlipModifier = 1.f |
Wheel Lateral Skid Grip Loss, lower number less grip on skid.
| float FRRRobotWheelProperty::SkidThreshold = 20.f |
Wheel Lateral Skid Threshold.
| float FRRRobotWheelProperty::SlipThreshold = 20.f |
Wheel Longitudinal Slip Threshold.
| float FRRRobotWheelProperty::SpringPreload = 50.f |
Spring Preload (N/m)
| float FRRRobotWheelProperty::SpringRate = 250.0f |
Spring Force (N/m)
| FVector FRRRobotWheelProperty::SuspensionAxis = FVector(0.f, 0.f, -1.f) |
Local body direction in which where suspension forces are applied (typically along -Z-axis)
| float FRRRobotWheelProperty::SuspensionDampingRatio = 0.5f |
Suspension damping, larger value causes the suspension to come to rest faster [range 0 to 1]
| FVector FRRRobotWheelProperty::SuspensionForceOffset = FVector::ZeroVector |
Vertical offset from where suspension forces are applied (along Z-axis)
| float FRRRobotWheelProperty::SuspensionMaxDrop = 10.f |
| float FRRRobotWheelProperty::SuspensionMaxRaise = 10.f |
| int8 FRRRobotWheelProperty::SuspensionSmoothing = 0 |
Smooth suspension [0-off, 10-max] - Warning might cause momentary visual inter-penetration of the wheel against.
objects/terrain
| ESweepShape FRRRobotWheelProperty::SweepShape = ESweepShape::Raycast |
Whether wheel suspension considers simple, complex, or both.
| ESweepType FRRRobotWheelProperty::SweepType = ESweepType::SimpleSweep |
Whether wheel suspension considers simple, complex, or both.
| float FRRRobotWheelProperty::WheelLoadRatio = 0.5f |
Amount wheel load effects wheel friction.
At 0 wheel friction is completely independent of the loading on the wheel (This is artificial as it always assumes even balance between all wheels) At 1 wheel friction is based on the force pressing wheel into the ground. This is more realistic. Lower value cures lift off over-steer, generally makes vehicle easier to handle under extreme motions.
| FString FRRRobotWheelProperty::WheelName |
| float FRRRobotWheelProperty::WheelRadius = 0.f |
| float FRRRobotWheelProperty::WheelWidth = 0.f |
1.8.17