DiscoverLearnDocumentationGet OpenPLXSearch Contact
Changelog Official Bundles
Control
Virtual
AffineTransform1DInput AffineTransform1DOutput BroadcastInput GroupOutput
DriveTrain
Actuator AutomaticBrake AutomaticClutch Differential EmpiricalEngine EmpiricalTorqueConverter
Engines
Cat-C17520 Cat-C27 Cat-C32ACERT Doosan-DE08TIS GMTruck JohnDeere-6068HF485 Komatsu-WA475-10 Saab-B234i Scania-K310UB4X2Euro5 Volvo-BMTD45B Volvo-D16E540 Volvo-T5 Volvo-TD73KD
FlexibleGear Gear GearBox HingeActuator InfinitePowerSource ManualBrake ManualClutch MeanValueEngine
MechanicalDriveTrains
TwoWheelTemplate
PowerSource PrismaticActuator Shaft
Signals
AutomaticClutchDisengagementDurationInput AutomaticClutchDisengagementDurationOutput AutomaticClutchEngagementDurationInput AutomaticClutchEngagementDurationOutput TorqueConverterLockUpInput TorqueConverterLockedUpOutput TorqueConverterPumpTorqueOutput TorqueConverterTurbineTorqueOutput
TorqueLimitedSlipDifferential TorqueMotor
Traits
FourStrokeEngine PowerGenerator RotationalPowerGenerator TwoStrokeEngine
ViscousGear
MachineModeling
Actuators
Linear
Base
Connections
Base Cylinder CylinderAxleBearings CylinderBearings Distance
Cylinder CylinderBearings CylinderPart Distance
Traits
CylinderVisual ForceMotor RigidCylinderPart VelocityMotor
Bearings
Base Pair
Components
Composite
Base LinkPair
Primitive
Axle
Base RigidCylindrical
Traits
Cylindrical
Base
Link
Base
Connections
Base
Interfaces
FromTo
Pivot
AxleBearings Base Bearings Hinge HingedAxle LockedAxleBearings LockedBearings
Traits
Axle Bearings
Universal
Base
Constants
Definitions
Math
AffineTransform Constants Functions Line Matrix3x3 Matrix4x4 Quat
Random
GaussianDistribution
Vec2 Vec3
Physics
Bodies
Body Inertia Kinematics
Geometries
ContactGeometry LinearElasticMaterial Material
GeometryMaterialOverrideTrait
Interactions
Adhesion
ConstantForceAdhesion DefaultAdhesion
Clearance
ConstantAngleClearance ConstantDistanceClerance DefaultClearance
Connector
Dissipation
AsymmetricLimitFriction ConstantLimitFriction ConstantViscousSurfaceFriction ConstraintRelaxationTimeDamping DefaultDissipation DefaultDryFriction DefaultFriction DryBoxFriction DryConeFriction DryConstantNormalForceFriction DryDepthScaledConstantNormalForceFriction DryScaleBoxFriction MechanicalDamping
Flexibility
DefaultFlexibility
Defaults
Values
LinearElastic Rigid
Interaction Interaction1DOF
SurfaceContact
Model PatchElasticity PointwiseElasticity
Traits
SurfaceViscosity
Toughness
DefaultToughness ThresholdFracture ThresholdPlastic ThresholdPlasticFracture Unbreakable
KinematicLock
Optics
Material
Surfaces
Traits
GGXReflectionModel LambertReflectionModel OrenNayarReflectionModel
Sv
Traits
RefractiveIndex
WavelengthBand
Signals
ActivateInput ActivatedOutput AngleInput AngleInputTrait AngleOutput AngleOutputTrait AngularVelocity1DInput AngularVelocity1DInputTrait AngularVelocity1DOutput AngularVelocity1DOutputTrait BoolInput BoolInputSignal BoolInputTrait BoolOutput BoolOutputTrait DurationInput DurationInputTrait DurationOutput DurationOutputTrait EnableInteractionInput EngageInput EngagedOutput Force1DInput Force1DInputTrait Force1DOutput Force1DOutputTrait ForceRangeInput ForceRangeInputTrait ForceRangeOutput ForceRangeOutputTrait FractionInput FractionInputTrait FractionOutput FractionOutputTrait Input InputOutputType InputSignal IntInput IntInputSignal IntInputTrait IntOutput IntOutputTrait InteractionEnabledOutput LinearVelocity1DInput LinearVelocity1DInputTrait LinearVelocity1DOutput LinearVelocity1DOutputTrait Marshalling MassOutput MassOutputTrait Output OutputSignal Position1DInput Position1DInputTrait Position1DOutput Position1DOutputTrait RatioOutput RatioOutputTrait RealInputSignal RealRangeInputSignal RelativeVelocity1DOutput RelativeVelocity1DOutputTrait RpmOutput RpmOutputTrait SignalInterface Torque1DInput Torque1DInputTrait Torque1DOutput Torque1DOutputTrait TorqueRangeInput TorqueRangeInputTrait TorqueRangeOutput TorqueRangeOutputTrait Value ValueOutputSignal Vec3InputSignal
System
Physics1D
Bodies
Body Inertia Kinematics LinearBody LinearKinematics RotationalBody RotationalKinematics
Interactions
LinearConnector Mate MateConnector RotationalConnector RotationalVelocityMotor VelocityMotor
Physics3D
Bodies
Body Inertia Kinematics RigidBody RigidBodyKinematics
Geometries
Box Capsule ContactGeometry ConvexMesh Cylinder ExternalTriMeshGeometry Sphere TriMesh TriMeshGeometry
Interactions
AdaptiveMateConnector Ball
Clearance
ConstantBallClearance ConstantCylindricalClearance ConstantHingeClearance ConstantLockClearance ConstantPrismaticClearance DefaultMateClearance
Cylindrical
Dissipation
BallMechanicalDamping CylindricalMechanicalDamping DefaultBallDissipation DefaultCylindricalDissipation DefaultDistanceDissipation DefaultHingeDissipation DefaultLockDissipation DefaultMateDissipation DefaultPrismaticDissipation DistanceMechanicalDamping HingeMechanicalDamping LockMechanicalDamping PrismaticMechanicalDamping
Distance DistanceMotor DistanceRange
Flexibility
DefaultBallFlexibility DefaultCylindricalFlexibility DefaultDistanceFlexibility DefaultHingeFlexibility DefaultLockFlexibility DefaultMateFlexibility DefaultPrismaticFlexibility LinearElasticBallFlexibility LinearElasticCylindricalFlexibility LinearElasticDistanceFlexibility LinearElasticHingeFlexibility LinearElasticLockFlexibility LinearElasticPrismaticFlexibility
ForceMotor Hinge LinearRange LinearSpring LinearVelocityMotor Lock Mate MateConnector Prismatic RangeInteraction1DOF RedirectedMateConnector RotationalRange RotationalVelocityMotor SpringInteraction1DOF StructuralPlanarConnector
SurfaceContact
PatchElasticityDryFrictionModel PointwiseElasticityDryFrictionModel
Traits
BodyOrientedFriction GeometryOrientedFriction OrientedFriction OrientedSurfaceViscosity
TorqueMotor TorsionSpring
Toughness
BallThresholdFracture CylindricalThresholdFracture DefaultBallToughness DefaultCylindricalToughness DefaultDistanceThoughness DefaultHingeToughness DefaultLockToughness DefaultMateToughness DefaultPrismaticToughness HingeThresholdFracture LockThresholdFracture PrismaticThresholdFracture
VelocityMotor World
Signals
AngularVelocity3DInput AngularVelocity3DInputTrait AngularVelocity3DOutput AngularVelocity3DOutputTrait Force3DOutput Force3DOutputTrait LinearVelocity3DInput LinearVelocity3DInputTrait LinearVelocity3DOutput LinearVelocity3DOutputTrait
MateConnector
Acceleration3DOutput AngularAcceleration3DOutput AngularVelocity3DOutput LinearVelocity3DOutput MCAngularVelocity3DOutputTrait MCLinearVelocity3DOutputTrait MateConnectorOutputTrait Output PositionOutput RPYOutput
Position3DOutput Position3DOutputTrait RPYOutput RPYOutputTrait Torque3DInput Torque3DInputTrait Torque3DOutput Torque3DOutputTrait Vec3Marshalling
StructuralComponent StructuralPlane System
Robotics
EndEffectors
ConstantVacuumSystem SixDofSuctionCup SixDofSuctionCupJoint SuctionCup SuctionCupElastoDynamics VacuumGripper VacuumSystem
Joints
ActuatedJoint CoupledJointDriveTrain FixedJoint FlexibleAngularVelocityJoint FlexibleJointData FlexibleJointDriveTrain FlexibleJointTrait FlexibleTorqueJoint HingeJoint HingeJointData Joint JointData PositionHingeJoint PrismaticJoint TorqueHingeJoint VelocityHingeJoint
Kinematics
ElementaryTransformSequence
Links
LinkData RigidBoxLink RigidLink RigidTriMeshLink
Robots
Robot SerialManipulatorData SixAxisSerialManipulator
Signals
RobotInput RobotInputSignal RobotOutput RobotOutputSignal Sensor SensorValues
Sensors
AccelerometerLogic AccelerometerSensingDistortion AccelerometerSignalGaussianNoise AccelerometerSignalSpectralNoise Distortion GyroscopeLogic GyroscopeSensingDistortion GyroscopeSignalGaussianNoise GyroscopeSignalLinearAccelerationEffect GyroscopeSignalSpectralNoise IMULogic
Library
LIDARs
Ouster
OS0 OS1 OS2 OSDome
SICK
TIM150 TIM310 TIM781
Velodyne
VLP16
LidarDetectionDistanceGaussianNoise LidarLogic LidarSensingDistortion MagnetometerLogic MagnetometerSensingDistortion MagnetometerSignalGaussianNoise MagnetometerSignalSpectralNoise
Optics
BeamDivergence ConicalBeamDivergence HorizontalSweepRaySource RayEmissionAngleGaussianNoise RayEmissionDistortion RaySource
Traits
BeamEmitter DistortedRayEmission LidarHorizontalResolution1024 LidarHorizontalResolution2048 LidarHorizontalResolution512 LidarVerticalResolution128 LidarVerticalResolution32 LidarVerticalResolution64 PulsedBeamEmitter RayEmitter
PulsedLidarLogic SensorLogic
Signals
AccelerometerOutput GyroscopeOutput IMUOutput IMUOutputField LidarOutput LidarOutputField MagnetometerOutput SensorOutputSignal TriaxialOutputfield
Traits
LidarFrequency05 LidarFrequency10 LidarFrequency15 LidarFrequency20 MateAttachment MateConnectorAttachment
TriaxialSensorLogic
Simulation
CollisionGroup DisableCollisionPair Environment GravitationalField PointGravitationalField UniformGravitationalField
Terrain
MaterialLibrary
TerrainMaterialLibrary
Shovel Terrain TerrainMaterial
Urdf
PackagePath
Vehicles
Base
Chassis
Articulated
Base
Connections
Composite
Base
Interfaces
DualActuator DualCylinder ToFrames
OneLink
Interfaces
Frames
Single
Base
Hinge
Interfaces
SingleJoint
SingleJoint Universal
Rigid
Base
FourWheel
Base FrontWheelDrive
Properties
FrontSuspensionSteering RearSuspension
Interfaces
UpForwardVectors
Steering
Articulated
Base DualActuator DualCylinder
Base
Interfaces
Ackermann Base BellCrank RackAndPinion
Kinematic
Ackermann Base BellCrank
Interactions
Ackermann Base BellCrank RackAndPinion
RackAndPinion
Suspensions
Base
Properties
Steering WheelAxisFromUpForward
SingleMate
Base
Interactions
Base LinearSpringDamper
Interfaces
ChassisAttachmentConnectors
LinearSpringDamper
Tracks
Belt BoxLinkDescription BoxLinkVariation ContactGeometryLinkDescription CyclicVariation CylindricalIdler CylindricalRoadWheel CylindricalRoller CylindricalSprocket DefaultLinkDescription DefaultLinkVariation DiscretePulseVariation FixedLinkCountBelt InertialRoadWheel RigidCylindricalIdler RigidCylindricalRoadWheelBody RigidCylindricalRoller RigidCylindricalSprocket RoadWheel SinusoidalVariation System
Wheels
Actuator Base ElasticWheel
Interactions
Dissipation
DefaultWheelDissipation WheelMechanichalDamping
Flexibility
DefaultWheelFlexibility LinearElasticWheelFlexibility
Rim RimTrait Tire TireTrait
Visuals
Geometries
Box ConvexMesh Cylinder ExternalTriMeshGeometry Geometry Sphere TriMeshGeometry
Materials
Material TextureMaterial
/
Vehicles
/
Suspensions
/
Properties
/
WheelAxisFromUpForward.openplx

Vehicles/Suspensions/Properties/WheelAxisFromUpForward.openplx

WheelAxisFromUpForward

trait WheelAxisFromUpForward:
    .doc: """
    Upgrades a MateConnector to be oriented
    with the main_axis in the wheel axis direction
    """
    main_axis: up_vector.cross(forward_vector)
    normal: up_vector
OpenPLX is a work in progress. This draft version will evolve with user feedback and experience. We welcome your input and collaboration.
X