OmniGraph Node omni.physx.graph.VehicleGetWheelState

omni.physx.graph.VehicleGetWheelState Properties

Name	Value
Version	1
Extension	omni.physx.graph
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	tests, usd
tags	physics
uiName	Get Wheel State
__categories	Omni PhysX Vehicles
__exclusions	tests,usd
Generated Class Name	OgnVehicleGetWheelStateDatabase
Python Module	omni.physxgraph

omni.physx.graph.VehicleGetWheelState Description

Retrieving wheel related simulation state of an omni.physx vehicle. Note: the simulation must be running if this node is evaluated, else the resulting behavior will be undefined.

omni.physx.graph.VehicleGetWheelState Inputs

Name	Type	Default	Required?	Descripton
inputs:vehicleWheelAttachmentPaths	token[]	[]	Y	The USD path of the vehicle prims to get the wheel state for
	uiName	Wheel Attachment USD Paths

omni.physx.graph.VehicleGetWheelState Outputs

Name	Type	Default	Required?	Descripton
outputs:groundContactStates	bool[]	None	Y	True if the wheel touches the ground, false if not
	uiName	Ground Contact State
outputs:groundHitPositions	float[3][]	None	Y	The ground hit positions under the wheels stored in (x,y,z) format
	uiName	Ground Hit Positions
outputs:groundPhysXActors	token[]	None	Y	The physx actors under the wheels
	uiName	Ground Hit PhysX Actors
outputs:groundPhysXMaterials	token[]	None	Y	The physx materials under the wheels
	uiName	Ground Hit PhysX Materials
outputs:groundPhysXShapes	token[]	None	Y	The physx shapes under the wheels
	uiName	Ground Hit PhysX Shapes
outputs:groundPlanes	float[4][]	None	Y	The ground planes under the wheels stored in [nx,ny,nz,d] format
	uiName	Wheel Ground Planes
outputs:suspensionForces	float[3][]	None	Y	The force developing on the suspensions
	uiName	Suspension Forces
outputs:suspensionJounces	float[]	None	Y	The jounce of the suspensions with zero meaning fully elongated
	uiName	Suspension Jounces
outputs:tireForces	float[3][]	None	Y	The forces developing on the tires
	uiName	Tire Forces
outputs:tireFrictions	float[]	None	Y	The friction values applied to the tires
	uiName	Tire Friction Values
outputs:tireLateralDirections	float[3][]	None	Y	The lateral directions of the tires
	uiName	Tire Lateral Directions
outputs:tireLateralSlips	float[]	None	Y	The tire lateral slips
	uiName	Tire Lateral Slips
outputs:tireLongitudinalDirections	float[3][]	None	Y	The longitudinal directions of the tires
	uiName	Tire Longitudinal Directions
outputs:tireLongitudinalSlips	float[]	None	Y	The tire longitudinal slips
	uiName	Tire Longitudinal Slips
outputs:wheelRotationAngles	float[]	None	Y	The wheel rotation angles in radians
	uiName	Wheel Rotation Angles
outputs:wheelRotationSpeeds	float[]	None	Y	The wheel rotation speeds in radians per second
	uiName	Wheel Rotation Speeds
outputs:wheelSteerAngles	float[]	None	Y	The wheel steer angles in radians
	uiName	Wheel Steer Angles