Class WheelControllerState

Cached Rigidbody state for physics substepping. Allows wheel physics to run at higher frequency than Unity's native physics rate.

Inheritance
object
WheelControllerState
Namespace: NWH.WheelController3D
Assembly: NWH.WheelController.dll
Syntax
[Serializable]
public class WheelControllerState

Fields

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angularVelocity

World-space angular velocity (rad/s).

Declaration
public Vector3 angularVelocity
Field Value
Type Description
Vector3
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centerOfMass

Center of mass in body-local space (m).

Declaration
public Vector3 centerOfMass
Field Value
Type Description
Vector3
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inertiaTensor

Diagonal inertia tensor in inertia space (kg*m^2).

Declaration
public Vector3 inertiaTensor
Field Value
Type Description
Vector3
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inertiaTensorRotation

Rotation of the inertia tensor relative to the body.

Declaration
public Quaternion inertiaTensorRotation
Field Value
Type Description
Quaternion
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inverseInertiaTensor

Per-component reciprocal of inertiaTensor (0 where the tensor is near zero).

Declaration
public Vector3 inverseInertiaTensor
Field Value
Type Description
Vector3
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inverseMass

Reciprocal of mass.

Declaration
public float inverseMass
Field Value
Type Description
float
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localToWorldMatrix

Body-to-world transform matrix (scale 1).

Declaration
public Matrix4x4 localToWorldMatrix
Field Value
Type Description
Matrix4x4
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mass

Body mass (kg).

Declaration
public float mass
Field Value
Type Description
float
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position

World-space body position (m).

Declaration
public Vector3 position
Field Value
Type Description
Vector3
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rotation

World-space body rotation.

Declaration
public Quaternion rotation
Field Value
Type Description
Quaternion
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velocity

World-space linear velocity (m/s).

Declaration
public Vector3 velocity
Field Value
Type Description
Vector3
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worldCenterOfMass

Center of mass in world space (m).

Declaration
public Vector3 worldCenterOfMass
Field Value
Type Description
Vector3
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worldToLocalMatrix

World-to-body transform matrix (inverse of localToWorldMatrix).

Declaration
public Matrix4x4 worldToLocalMatrix
Field Value
Type Description
Matrix4x4

Methods

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ApplyForce(Vector3, float)

Apply force at center of mass.

Declaration
public void ApplyForce(Vector3 force, float dt)
Parameters
Type Name Description
Vector3 force
float dt
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ApplyForceAtPosition(Vector3, Vector3, float)

Apply force at world position.

Declaration
public void ApplyForceAtPosition(Vector3 force, Vector3 worldPoint, float dt)
Parameters
Type Name Description
Vector3 force
Vector3 worldPoint
float dt
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ApplyTorque(Vector3, float)

Apply torque in world space.

Declaration
public void ApplyTorque(Vector3 torque, float dt)
Parameters
Type Name Description
Vector3 torque
float dt
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GetPointVelocity(Vector3)

Calculate point velocity at world position. Matches Rigidbody.GetPointVelocity behavior.

Declaration
public Vector3 GetPointVelocity(Vector3 worldPoint)
Parameters
Type Name Description
Vector3 worldPoint
Returns
Type Description
Vector3
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IntegrateTransform(float)

Integrate position and rotation forward by dt. Call after all forces for this substep have been applied.

Declaration
public void IntegrateTransform(float dt)
Parameters
Type Name Description
float dt
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ReadFromRigidbody(Rigidbody)

Read current state from a Rigidbody.

Declaration
public void ReadFromRigidbody(Rigidbody rb)
Parameters
Type Name Description
Rigidbody rb