Class DynamicRayCastVehicleController

A character controller to simulate vehicles using ray-casting for the wheels.

Constructors

constructor

Properties

_chassis bodies broadPhase colliders narrowPhase raw

Accessors

indexForwardAxis indexUpAxis setIndexForwardAxis

Methods

addWheel chassis currentVehicleSpeed free numWheels setWheelAxleCs setWheelBrake setWheelChassisConnectionPointCs setWheelDirectionCs setWheelEngineForce setWheelFrictionSlip setWheelMaxSuspensionForce setWheelMaxSuspensionTravel setWheelRadius setWheelSideFrictionStiffness setWheelSteering setWheelSuspensionCompression setWheelSuspensionRelaxation setWheelSuspensionRestLength setWheelSuspensionStiffness updateVehicle wheelAxleCs wheelBrake wheelChassisConnectionPointCs wheelContactNormal wheelContactPoint wheelDirectionCs wheelEngineForce wheelForwardImpulse wheelFrictionSlip wheelGroundObject wheelHardPoint wheelIsInContact wheelMaxSuspensionForce wheelMaxSuspensionTravel wheelRadius wheelRotation wheelSideFrictionStiffness wheelSideImpulse wheelSteering wheelSuspensionCompression wheelSuspensionForce wheelSuspensionLength wheelSuspensionRelaxation wheelSuspensionRestLength wheelSuspensionStiffness

Constructors

constructor

Properties

Private _chassis

_chassis: any

Private bodies

bodies: any

Private broadPhase

broadPhase: any

Private colliders

colliders: any

Private narrowPhase

narrowPhase: any

Private raw

raw: any

Accessors

indexForwardAxis

  • get indexForwardAxis(): number

  • The chassis’ local forward direction (0 = x, 1 = y, 2 = z).

    Returns number

indexUpAxis

  • get indexUpAxis(): number

  • The chassis’ local up direction (0 = x, 1 = y, 2 = z).

    Returns number

  • set indexUpAxis(axis): void

  • Sets the chassis’ local up direction (0 = x, 1 = y, 2 = z).

    Parameters

    • axis: number

    Returns void

setIndexForwardAxis

  • set setIndexForwardAxis(axis): void

  • Sets the chassis’ local forward direction (0 = x, 1 = y, 2 = z).

    Parameters

    • axis: number

    Returns void

Methods

addWheel

  • addWheel(chassisConnectionCs, directionCs, axleCs, suspensionRestLength, radius): void

  • Adds a new wheel attached to this vehicle.

    Parameters

    • chassisConnectionCs: Vector

      The position of the wheel relative to the chassis.

    • directionCs: Vector

      The direction of the wheel’s suspension, relative to the chassis. The ray-casting will happen following this direction to detect the ground.

    • axleCs: Vector

      The wheel’s axle axis, relative to the chassis.

    • suspensionRestLength: number

      The rest length of the wheel’s suspension spring.

    • radius: number

      The wheel’s radius.

    Returns void

chassis

  • chassis(): RigidBody

  • The rigid-body used as the chassis.

    Returns RigidBody

currentVehicleSpeed

  • currentVehicleSpeed(): number

  • The current forward speed of the vehicle.

    Returns number

free

  • free(): void
  • Internal

    Returns void

numWheels

  • numWheels(): number

  • The number of wheels attached to this vehicle.

    Returns number

setWheelAxleCs

  • setWheelAxleCs(i, value): void

  • Sets the i-th wheel’s axle axis, relative to the chassis.

    The axis index defined as 0 = X, 1 = Y, 2 = Z.

    Parameters

    Returns void

setWheelBrake

  • setWheelBrake(i, value): void

  • Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelChassisConnectionPointCs

  • setWheelChassisConnectionPointCs(i, value): void

  • Sets the position of the i-th wheel, relative to the chassis.

    Parameters

    Returns void

setWheelDirectionCs

  • setWheelDirectionCs(i, value): void

  • Sets the direction of the i-th wheel’s suspension, relative to the chassis.

    The ray-casting will happen following this direction to detect the ground.

    Parameters

    Returns void

setWheelEngineForce

  • setWheelEngineForce(i, value): void

  • Sets the forward force applied by the i-th wheel on the chassis.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelFrictionSlip

  • setWheelFrictionSlip(i, value): void

  • Sets the parameter controlling how much traction the tire has.

    The larger the value, the more instantaneous braking will happen (with the risk of causing the vehicle to flip if it’s too strong).

    Parameters

    • i: number
    • value: number

    Returns void

setWheelMaxSuspensionForce

  • setWheelMaxSuspensionForce(i, value): void

  • Sets the maximum force applied by the i-th wheel’s suspension.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelMaxSuspensionTravel

  • setWheelMaxSuspensionTravel(i, value): void

  • Sets the maximum distance the i-th wheel suspension can travel before and after its resting length.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelRadius

  • setWheelRadius(i, value): void

  • Sets the i-th wheel’s radius.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelSideFrictionStiffness

  • setWheelSideFrictionStiffness(i, value): void

  • The multiplier of friction between a tire and the collider it’s on top of.

    The larger the value, the stronger side friction will be.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelSteering

  • setWheelSteering(i, value): void

  • Sets the steering angle (radians) for the i-th wheel.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelSuspensionCompression

  • setWheelSuspensionCompression(i, value): void

  • The i-th wheel’s suspension’s damping when it is being compressed.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelSuspensionRelaxation

  • setWheelSuspensionRelaxation(i, value): void

  • Sets the i-th wheel’s suspension’s damping when it is being released.

    Increase this value if the suspension appears to overshoot.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelSuspensionRestLength

  • setWheelSuspensionRestLength(i, value): void

  • Sets the rest length of the i-th wheel’s suspension spring.

    Parameters

    • i: number
    • value: number

    Returns void

setWheelSuspensionStiffness

  • setWheelSuspensionStiffness(i, value): void

  • Sets the i-th wheel’s suspension stiffness.

    Increase this value if the suspension appears to not push the vehicle strong enough.

    Parameters

    • i: number
    • value: number

    Returns void

updateVehicle

  • updateVehicle(dt, filterFlags?, filterGroups?, filterPredicate?): void

  • Updates the vehicle’s velocity based on its suspension, engine force, and brake.

    This directly updates the velocity of its chassis rigid-body.

    Parameters

    • dt: number

      Time increment used to integrate forces.

    • Optional filterFlags: QueryFilterFlags

      Flag to exclude categories of objects from the wheels’ ray-cast.

    • Optional filterGroups: number

      Only colliders compatible with these groups will be hit by the wheels’ ray-casts.

    • Optional filterPredicate: ((collider) => boolean)

      Callback to filter out which collider will be hit by the wheels’ ray-casts.

        • (collider): boolean

        • Parameters

          Returns boolean

    Returns void

wheelAxleCs

  • wheelAxleCs(i): Vector

  • The i-th wheel’s axle axis, relative to the chassis.

    The axis index defined as 0 = X, 1 = Y, 2 = Z.

    Parameters

    • i: number

    Returns Vector

wheelBrake

  • wheelBrake(i): number

  • The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.

    Parameters

    • i: number

    Returns number

wheelChassisConnectionPointCs

  • wheelChassisConnectionPointCs(i): Vector

  • The position of the i-th wheel, relative to the chassis.

    Parameters

    • i: number

    Returns Vector

wheelContactNormal

  • wheelContactNormal(i): Vector

  • The (world-space) contact normal between the i-th wheel and the floor.

    Parameters

    • i: number

    Returns Vector

wheelContactPoint

  • wheelContactPoint(i): Vector

  • The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.

    Parameters

    • i: number

    Returns Vector

wheelDirectionCs

  • wheelDirectionCs(i): Vector

  • The direction of the i-th wheel’s suspension, relative to the chassis.

    The ray-casting will happen following this direction to detect the ground.

    Parameters

    • i: number

    Returns Vector

wheelEngineForce

  • wheelEngineForce(i): number

  • The forward force applied by the i-th wheel on the chassis.

    Parameters

    • i: number

    Returns number

wheelForwardImpulse

  • wheelForwardImpulse(i): number

  • The forward impulses applied by the i-th wheel on the chassis.

    Parameters

    • i: number

    Returns number

wheelFrictionSlip

  • wheelFrictionSlip(i): number

  • Parameter controlling how much traction the tire has.

    The larger the value, the more instantaneous braking will happen (with the risk of causing the vehicle to flip if it’s too strong).

    Parameters

    • i: number

    Returns number

wheelGroundObject

  • wheelGroundObject(i): Collider

  • The collider hit by the ray-cast for the i-th wheel.

    Parameters

    • i: number

    Returns Collider

wheelHardPoint

  • wheelHardPoint(i): Vector

  • The (world-space) starting point of the ray-cast for the i-th wheel.

    Parameters

    • i: number

    Returns Vector

wheelIsInContact

  • wheelIsInContact(i): boolean

  • Is the i-th wheel in contact with the ground?

    Parameters

    • i: number

    Returns boolean

wheelMaxSuspensionForce

  • wheelMaxSuspensionForce(i): number

  • The maximum force applied by the i-th wheel’s suspension.

    Parameters

    • i: number

    Returns number

wheelMaxSuspensionTravel

  • wheelMaxSuspensionTravel(i): number

  • The maximum distance the i-th wheel suspension can travel before and after its resting length.

    Parameters

    • i: number

    Returns number

wheelRadius

  • wheelRadius(i): number

  • The i-th wheel’s radius.

    Parameters

    • i: number

    Returns number

wheelRotation

  • wheelRotation(i): number

  • The i-th wheel’s current rotation angle (radians) on its axle.

    Parameters

    • i: number

    Returns number

wheelSideFrictionStiffness

  • wheelSideFrictionStiffness(i): number

  • The multiplier of friction between a tire and the collider it’s on top of.

    The larger the value, the stronger side friction will be.

    Parameters

    • i: number

    Returns number

wheelSideImpulse

  • wheelSideImpulse(i): number

  • The side impulses applied by the i-th wheel on the chassis.

    Parameters

    • i: number

    Returns number

wheelSteering

  • wheelSteering(i): number

  • The steering angle (radians) for the i-th wheel.

    Parameters

    • i: number

    Returns number

wheelSuspensionCompression

  • wheelSuspensionCompression(i): number

  • The i-th wheel’s suspension’s damping when it is being compressed.

    Parameters

    • i: number

    Returns number

wheelSuspensionForce

  • wheelSuspensionForce(i): number

  • The force applied by the i-th wheel suspension.

    Parameters

    • i: number

    Returns number

wheelSuspensionLength

  • wheelSuspensionLength(i): number

  • The suspension length for the i-th wheel.

    Parameters

    • i: number

    Returns number

wheelSuspensionRelaxation

  • wheelSuspensionRelaxation(i): number

  • The i-th wheel’s suspension’s damping when it is being released.

    Increase this value if the suspension appears to overshoot.

    Parameters

    • i: number

    Returns number

wheelSuspensionRestLength

  • wheelSuspensionRestLength(i): number

  • The rest length of the i-th wheel’s suspension spring.

    Parameters

    • i: number

    Returns number

wheelSuspensionStiffness

  • wheelSuspensionStiffness(i): number

  • The i-th wheel’s suspension stiffness.

    Increase this value if the suspension appears to not push the vehicle strong enough.

    Parameters

    • i: number

    Returns number

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