class in UnityEngine
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Inherits from:Collider
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Implemented in:UnityEngine.VehiclesModule
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Close Your name Your email Suggestion* Switch to Manual DescriptionA special collider for vehicle wheels.
Wheel collider is used to model vehicle wheels. It simulates a spring and damper suspension setup, and uses a slip based tire friction model to calculate wheel contact forces.
Wheel's collision detection is performed by casting a ray from center downwards the local y-axis. The wheel has a radius and can extend downwards by suspensionDistance amount.
The wheel is controlled with motorTorque, brakeTorque and steerAngle properties.
Wheel collider computes friction separately from the rest of physics engine, using a slip based friction model. This allows for more realistic behaviour, but makes wheel colliders ignore standard PhysicsMaterial settings. Simulation of different road materials is done by changing the forwardFriction and sidewaysFriction based on what material the wheel is hitting. Additional resources: GetGroundHit and WheelFrictionCurve.
Properties Property Description brakeTorque Brake torque expressed in Newton metres. center The center of the wheel, measured in the object's local space. forceAppPointDistance Application point of the suspension and tire forces measured from the base of the resting wheel. forwardFriction Properties of tire friction in the direction the wheel is pointing in. isGrounded Indicates whether the wheel currently collides with something (Read Only). mass The mass of the wheel, expressed in kilograms. Must be larger than zero. Typical values would be in range (20,80). motorTorque Motor torque on the wheel axle expressed in Newton metres. Positive or negative depending on direction. radius The radius of the wheel, measured in local space. rotationSpeed Rotation speed of the wheel, measured in degrees per second. rpm Current wheel axle rotation speed, in rotations per minute (Read Only). sidewaysFriction Properties of tire friction in the sideways direction. sprungMass The mass supported by this WheelCollider. steerAngle Steering angle in degrees, always around the local y-axis. suspensionDistance Maximum extension distance of wheel suspension, measured in local space. suspensionExpansionLimited Limits the expansion velocity of the Wheel Collider's suspension. If you set this property on a Rigidbody that has several Wheel Colliders, such as a vehicle, then it affects all other Wheel Colliders on the Rigidbody. suspensionSpring The parameters of wheel's suspension. The suspension attempts to reach a target position by applying a linear force and a damping force. wheelDampingRate The damping rate of the wheel. Must be larger than zero. Public Methods Method Description ConfigureVehicleSubsteps Configure vehicle sub-stepping parameters. GetGroundHit Gets ground collision data for the wheel. GetWorldPose Gets the world space pose of the wheel accounting for ground contact, suspension limits, steer angle, and rotation angle (angles in degrees). ResetSprungMasses Reset the sprung masses of the vehicle. Inherited Members Properties Property Description attachedArticulationBody The articulation body the collider is attached to. attachedRigidbody The rigidbody the collider is attached to. bounds The world space bounding volume of the collider (Read Only). contactOffset Contact offset value of this collider. enabled Enabled Colliders will collide with other Colliders, disabled Colliders won't. excludeLayers The additional layers that this Collider should exclude when deciding if the Collider can contact another Collider. GeometryHolder The structure holding the geometric shape of the collider and its type. (Read Only) hasModifiableContacts Specify whether this Collider's contacts are modifiable or not. includeLayers The additional layers that this Collider should include when deciding if the Collider can contact another Collider. isTrigger Specify if this collider is configured as a trigger. layerOverridePriority A decision priority assigned to this Collider used when there is a conflicting decision on whether a Collider can contact another Collider. material The material used by the collider. providesContacts Whether or not this Collider generates contacts for Physics.ContactEvent. sharedMaterial The shared physics material of this collider. gameObject The game object this component is attached to. A component is always attached to a game object. tag The tag of this game object. transform The Transform attached to this GameObject. hideFlags Should the object be hidden, saved with the Scene or modifiable by the user? name The name of the object. Public Methods Method Description ClosestPoint The closest point on the collider given a specified location. ClosestPointOnBounds The closest point to the bounding box of the attached collider. GetGeometry Returns the geometric shape of the collider of the requested type. Raycast Casts a Ray that ignores all Colliders except this one. BroadcastMessage Calls the method named methodName on every MonoBehaviour in this game object or any of its children. CompareTag Checks the GameObject's tag against the defined tag. GetComponent Gets a reference to a component of type T on the same GameObject as the component specified. GetComponentInChildren Gets a reference to a component of type T on the same GameObject as the component specified, or any child of the GameObject. GetComponentIndex Gets the index of the component on its parent GameObject. GetComponentInParent Gets a reference to a component of type T on the same GameObject as the component specified, or any parent of the GameObject. GetComponents Gets references to all components of type T on the same GameObject as the component specified. GetComponentsInChildren Gets references to all components of type T on the same GameObject as the component specified, and any child of the GameObject. GetComponentsInParent Gets references to all components of type T on the same GameObject as the component specified, and any parent of the GameObject. SendMessage Calls the method named methodName on every MonoBehaviour in this game object. SendMessageUpwards Calls the method named methodName on every MonoBehaviour in this game object and on every ancestor of the behaviour. TryGetComponent Gets the component of the specified type, if it exists. GetInstanceID Gets the instance ID of the object. ToString Returns the name of the object. Static Methods Method Description Destroy Removes a GameObject, component or asset. DestroyImmediate Destroys the object obj immediately. You are strongly recommended to use Destroy instead. DontDestroyOnLoad Do not destroy the target Object when loading a new Scene. FindAnyObjectByType Retrieves any active loaded object of Type type. FindFirstObjectByType Retrieves the first active loaded object of Type type. FindObjectsByType Retrieves a list of all loaded objects of Type type. Instantiate Clones the object original and returns the clone. InstantiateAsync Captures a snapshot of the original object (that must be related to some GameObject) and returns the AsyncInstantiateOperation. Operators Operator Description bool Does the object exist? operator != Compares if two objects refer to a different object. operator == Compares two object references to see if they refer to the same object. Messages Message Description OnCollisionEnter OnCollisionEnter is called when this collider/rigidbody has begun touching another rigidbody/collider. OnCollisionExit OnCollisionExit is called when this collider/rigidbody has stopped touching another rigidbody/collider. OnCollisionStay OnCollisionStay is called once per frame for every Collider or Rigidbody that touches another Collider or Rigidbody. OnTriggerEnter Called when a Collider with the Collider.isTrigger property overlaps another Collider. OnTriggerExit OnTriggerExit is called when the Collider other has stopped touching the trigger. OnTriggerStay OnTriggerStay is called almost all the frames for every Collider other that is touching the trigger. 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