Module com.github.stephengold.joltjni
Package com.github.stephengold.joltjni.readonly

Interface ConstWheel

All Superinterfaces:
AutoCloseable, Comparable<JoltPhysicsObject>, ConstJoltPhysicsObject
All Known Implementing Classes:
Wheel, WheelTv, WheelWv
public interface ConstWheel extends ConstJoltPhysicsObject
Read-only access to Wheel. (native type: const Wheel)

  • Method Details

    • getAngularVelocity

      float getAngularVelocity()
      Return the wheel's angular velocity.
      Returns:
      the angular velocity (in radians per second, positive when the vehicle is moving forward)

    • getContactBodyId

      int getContactBodyId()
      Return the ID of the body that's supporting the wheel.
      Returns:
      the body ID

    • getContactLateral

      Vec3 getContactLateral()
      Copy the wheel's lateral (sideways) direction.
      Returns:
      a new direction vector (in system coordinates)

    • getContactLongitudinal

      Vec3 getContactLongitudinal()
      Copy the wheel's longitudinal direction.
      Returns:
      a new direction vector (in system coordinates)

    • getContactNormal

      Vec3 getContactNormal()
      Copy the contact normal direction.
      Returns:
      a new direction vector (in system coordinates)

    • getContactPointVelocity

      Vec3 getContactPointVelocity()
      Copy the velocity of the contact point.
      Returns:
      a new velocity vector (meters per second in system coordinates)

    • getContactPosition

      RVec3 getContactPosition()
      Copy the location of the contact point.
      Returns:
      a new location vector (in system coordinates)

    • getContactSubShapeId

      int getContactSubShapeId()
      Return ID of the sub-shape that's supporting the vehicle.
      Returns:
      the sub-shape ID

    • getLateralLambda

      float getLateralLambda()
      Return the lateral (sideways) component of the impulse applied to the wheel.
      Returns:
      the impulse component (in Newton seconds)

    • getLongitudinalLambda

      float getLongitudinalLambda()
      Return the forward component of the impulse applied to the wheel.
      Returns:
      the impulse component (in Newton seconds)

    • getRotationAngle

      float getRotationAngle()
      Return the wheel's rotation angle.
      Returns:
      the angle (in radians)

    • getSettings

      ConstWheelSettings getSettings()
      Access the settings used to create this wheel.
      Returns:
      a new JVM object with the pre-existing native object assigned

    • getSteerAngle

      float getSteerAngle()
      Return the steering angle.
      Returns:
      the leftward angle (in radians, ≥-Pi, ≤Pi)

    • getSuspensionLambda

      float getSuspensionLambda()
      Return the total impulse applied to the suspension.
      Returns:
      the magnitude of the impulse (in Newton seconds)

    • getSuspensionLength

      float getSuspensionLength()
      Return the length of the suspension.
      Returns:
      the distance between the axle and the hard point (in meters)

    • hasContact

      boolean hasContact()
      Test whether the wheel is supported.
      Returns:
      true if supported, otherwise false

    • hasHitHardPoint

      boolean hasHitHardPoint()
      Test whether the suspension has hit its hard point.
      Returns:
      true if hit, otherwise false