61 lines
2.3 KiB
Markdown
61 lines
2.3 KiB
Markdown
# How to control vehicle physics
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Physics properties can be tuned for vehicles and its wheels.
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These changes are applied **only** on runtime, and values are set back to default ones when
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the execution ends.
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These properties are controlled through a
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[carla.VehiclePhysicsControl](python_api.md#carla.VehiclePhysicsControl) object,
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which also provides the control of each wheel's physics through a
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[carla.WheelPhysicsControl](python_api.md#carla.WheelPhysicsControl) object.
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---
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## Example
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```py
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import carla
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import random
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def main():
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# Connect to client
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client = carla.Client('127.0.0.1', 2000)
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client.set_timeout(2.0)
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# Get World and Actors
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world = client.get_world()
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current_map = world.get_map()
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actors = world.get_actors()
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# Get a random vehicle from world (there should be one at least)
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vehicle = random.choice([actor for actor in actors if 'vehicle' in actor.type_id])
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# Create Wheels Physics Control
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front_left_wheel = carla.WheelPhysicsControl(tire_friction=4.5, damping_rate=1.0, max_steer_angle=70.0, radius=30.0)
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front_right_wheel = carla.WheelPhysicsControl(tire_friction=2.5, damping_rate=1.5, max_steer_angle=70.0, radius=25.0)
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rear_left_wheel = carla.WheelPhysicsControl(tire_friction=1.0, damping_rate=0.2, max_steer_angle=0.0, radius=15.0)
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rear_right_wheel = carla.WheelPhysicsControl(tire_friction=1.5, damping_rate=1.3, max_steer_angle=0.0, radius=20.0)
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wheels = [front_left_wheel, front_right_wheel, rear_left_wheel, rear_right_wheel]
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# Change Vehicle Physics Control parameters of the vehicle
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physics_control = vehicle.get_physics_control()
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physics_control.torque_curve = [carla.Vector2D(x=0, y=400), carla.Vector2D(x=1300, y=600)]
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physics_control.max_rpm = 10000
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physics_control.moi = 1.0
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physics_control.damping_rate_full_throttle = 0.0
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physics_control.use_gear_autobox = True
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physics_control.gear_switch_time = 0.5
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physics_control.clutch_strength = 10
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physics_control.mass = 10000
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physics_control.drag_coefficient = 0.25
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physics_control.steering_curve = [carla.Vector2D(x=0, y=1), carla.Vector2D(x=100, y=1), carla.Vector2D(x=300, y=1)]
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physics_control.wheels = wheels
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# Apply Vehicle Physics Control for the vehicle
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vehicle.apply_physics_control(physics_control)
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if __name__ == '__main__':
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main()
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```
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