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