Get Wheel State
Retrieving wheel related simulation state of an omni.physx vehicle
Installation
To use this Node, you must enable omni.physx.graph
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
Wheel Attachment USD Paths (vehicleWheelAttachmentPaths) |
|
The USD path of the vehicle prims to get the wheel state for |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
Wheel Rotation Speeds (wheelRotationSpeeds) |
|
The wheel rotation speeds in radians per second |
|
Wheel Rotation Angles (wheelRotationAngles) |
|
The wheel rotation angles in radians |
|
Wheel Steer Angles (wheelSteerAngles) |
|
The wheel steer angles in radians |
|
Wheel Ground Planes (groundPlanes) |
|
The ground planes under the wheels stored in [nx,ny,nz,d] format |
|
Ground Hit Positions (groundHitPositions) |
|
The ground hit positions under the wheels stored in (x,y,z) format |
|
Ground Hit PhysX Actors (groundPhysXActors) |
|
The physx actors under the wheels |
|
Ground Hit PhysX Shapes (groundPhysXShapes) |
|
The physx shapes under the wheels |
|
Ground Hit PhysX Materials (groundPhysXMaterials) |
|
The physx materials under the wheels |
|
Ground Contact State (groundContactStates) |
|
True if the wheel touches the ground, false if not |
|
Suspension Jounces (suspensionJounces) |
|
The jounce of the suspensions with zero meaning fully elongated |
|
Suspension Forces (suspensionForces) |
|
The force developing on the suspensions |
|
Tire Friction Values (tireFrictions) |
|
The friction values applied to the tires |
|
Tire Longitudinal Slips (tireLongitudinalSlips) |
|
The tire longitudinal slips |
|
Tire Lateral Slips (tireLateralSlips) |
|
The tire lateral slips |
|
Tire Longitudinal Directions (tireLongitudinalDirections) |
|
The longitudinal directions of the tires |
|
Tire Lateral Directions (tireLateralDirections) |
|
The lateral directions of the tires |
|
Tire Forces (tireForces) |
|
The forces developing on the tires |