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MdtBclCarWheel Struct Reference

MdtBcl Car Wheel constraint structure. More...

#include <MdtBcl.h>

List of all members.

Public Attributes
MdtBclConstraintHeader	head
	Data stucture tag should be MdtBclCARWHEEL. More...
MeVector3	pos1
	Connection point relative to chassis. More...
MeVector3	saxis1
	Steering axis in the chassis frame. More...
MeVector3	haxis1
	Hinge axis in the chassis frame. More...
MeVector3	haxis2
	Hinge axis in the wheel frame. More...
MeReal	skp
	Proportional (spring) constant for suspension. More...
MeReal	skd
	Derivative (damping) constant for suspension. More...
MeReal	svel
	Steering desired angular velocity, in radians per second. More...
MeReal	sfmax
	Maximum steering motor torque (in Nm). More...
MeReal	hvel
	Hinge desired angular velocity, in radians per second. More...
MeReal	hfmax
	Maximum hinge motor torque (in Nm). More...
int	slock
	1 if steering axis locked at angle = 0. More...
MeReal	shi
	Suspension hi limit (in meters), relative to the attachment point. More...
MeReal	slo
	Suspension low limit (in meters), relative to the attachment point. More...
MeReal	sref
	Suspension reference point (in meters), relative to the attachment point. More...
MeReal	slsoft
	Suspension limit softness. More...
int	pad [2]
	PADDING - unused. More...

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Detailed Description

MdtBcl Car Wheel constraint structure.

A hinge that can be steered along a steering axis, is powered along the hinge and steering axes, and has suspension along the steering axis. Body 1 is the chassis and body 2 is the wheel. The connection point for the wheel body is its center of mass.

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Member Data Documentation

MeVector3 MdtBclCarWheel::haxis1

Hinge axis in the chassis frame.

MeVector3 MdtBclCarWheel::haxis2

Hinge axis in the wheel frame.

MdtBclConstraintHeader MdtBclCarWheel::head

Data stucture tag should be MdtBclCARWHEEL.

MeReal MdtBclCarWheel::hfmax

Maximum hinge motor torque (in Nm).

MeReal MdtBclCarWheel::hvel

Hinge desired angular velocity, in radians per second.

int MdtBclCarWheel::pad[2]

PADDING - unused.

MeVector3 MdtBclCarWheel::pos1

Connection point relative to chassis.

MeVector3 MdtBclCarWheel::saxis1

Steering axis in the chassis frame.

MeReal MdtBclCarWheel::sfmax

Maximum steering motor torque (in Nm).

MeReal MdtBclCarWheel::shi

Suspension hi limit (in meters), relative to the attachment point.

MeReal MdtBclCarWheel::skd

Derivative (damping) constant for suspension.

Typical values are usually in the range 1-10.

MeReal MdtBclCarWheel::skp

Proportional (spring) constant for suspension.

Typical values are usually in the range 1-10.

MeReal MdtBclCarWheel::slo

Suspension low limit (in meters), relative to the attachment point.

int MdtBclCarWheel::slock

1 if steering axis locked at angle = 0.

MeReal MdtBclCarWheel::slsoft

Suspension limit softness.

MeReal MdtBclCarWheel::sref

Suspension reference point (in meters), relative to the attachment point.

This is the `resting' position of the suspension.

MeReal MdtBclCarWheel::svel

Steering desired angular velocity, in radians per second.

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The documentation for this struct was generated from the following file:

• MdtBcl.h

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