Get Wheel State

Retrieving wheel related simulation state of an omni.physx vehicle

Installation

To use this node enable omni.physx.graph in the Extension Manager.

Inputs

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

Outputs

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

Metadata

Name	Value
Unique ID	omni.physx.graph.VehicleGetWheelState
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	PhysX Scene Vehicles
Generated Class Name	OgnVehicleGetWheelStateDatabase
Python Module	omni.physxgraph