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)	token[]	The USD path of the vehicle prims to get the wheel state for

Outputs

Name	Type	Description	Default
Wheel Rotation Speeds (wheelRotationSpeeds)	float[]	The wheel rotation speeds in radians per second
Wheel Rotation Angles (wheelRotationAngles)	float[]	The wheel rotation angles in radians
Wheel Steer Angles (wheelSteerAngles)	float[]	The wheel steer angles in radians
Wheel Ground Planes (groundPlanes)	float[4][]	The ground planes under the wheels stored in [nx,ny,nz,d] format
Ground Hit Positions (groundHitPositions)	float[3][]	The ground hit positions under the wheels stored in (x,y,z) format
Ground Hit PhysX Actors (groundPhysXActors)	token[]	The physx actors under the wheels
Ground Hit PhysX Shapes (groundPhysXShapes)	token[]	The physx shapes under the wheels
Ground Hit PhysX Materials (groundPhysXMaterials)	token[]	The physx materials under the wheels
Ground Contact State (groundContactStates)	bool[]	True if the wheel touches the ground, false if not
Suspension Jounces (suspensionJounces)	float[]	The jounce of the suspensions with zero meaning fully elongated
Suspension Forces (suspensionForces)	float[3][]	The force developing on the suspensions
Tire Friction Values (tireFrictions)	float[]	The friction values applied to the tires
Tire Longitudinal Slips (tireLongitudinalSlips)	float[]	The tire longitudinal slips
Tire Lateral Slips (tireLateralSlips)	float[]	The tire lateral slips
Tire Longitudinal Directions (tireLongitudinalDirections)	float[3][]	The longitudinal directions of the tires
Tire Lateral Directions (tireLateralDirections)	float[3][]	The lateral directions of the tires
Tire Forces (tireForces)	float[3][]	The forces developing on the tires