code:

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FR_wheel_ID=phcon_add(PH_WHEEL,car_frame, wheel);
phcon_setparams1(FR_wheel_ID,wheel.x,vector(0,0,1),vector(0,1,0));
phcon_setparams2(FR_wheel_ID,vector(-40,40,0),nullvector,nullvector);	

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quote:

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PH_WHEEL
Type:

Description : Entities are allowed to rotate along the slider axis and move along the slider axis. Other movement is blocked.
Parameter 1 : Anchor point
Parameter 2 : Wheel axis 1, e.g. (0,0,1)
Parameter 3: Wheel axis 2, e.g. (1,0,0)
Parameter 4 : Allowed angles around axis1,e.g. (-45, 90, 0) sets the lower limit to -45 degrees and the upper limit around the axis to +90 degrees. Use (-360, 360, 0) to remove all limits.
Parameter 5 : Allowed angles around axis2, e.g. (-45, 90, 0) sets the lower limit to -45 degrees and the upper limit around the axis to +90 degrees. Use (-360, 360, 0) to remove all limits.
Parameter 6 : nullvector or spring-damper constants e.g.( 0.9, 0.001,0)
Motor 1 : Set desired angular velocity around axis2 and the maximum torque allowed to achieve this velocity, e.g. (10, 50,0) will set a desired angular velocity of 10 Hz and a maximum torque of 50,000 Nm

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quote:

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PH_WHEEL
Type:

Description : Entities are allowed to rotate around axis 1 and axis 2. Use this constraint for setting up wheel-like behavior instead of using two separate PH_HINGEs. For a car, axis 1 is the steering axis (left/right), while axis 2 is required for forward/backward movement. Only axis 1 can have angle limits and can have its orientation queried (phcon_getposition).

Parameter 1 : Anchor point
Parameter 2 : Wheel axis 1 relative to first entity´s orientation, e.g. (0,0,1)
Parameter 3 : Wheel axis 2 relative to second entity´s orientation, e.g. (1,0,0)

Parameter 4 : Allowed angles around axis1, e.g. (-45, 90, 0) sets the lower limit to -45 degrees and the upper limit around the axis to +90 degrees. Use (-360, 360, 0) to remove all limits.
Parameter 5 : nullvector
Parameter 6 : nullvector or spring-damper constants e.g.( 0.9, 0.001,0)

Motor 1 : Set desired angular velocity around axis 1 and the maximum torque allowed to achieve this velocity, e.g. (10, 50,0) will set a desired angular velocity of 10 Hz and a maximum torque of 50,000 Nm
Motor 2 : Set desired angular velocity around axis 2 and the maximum torque allowed to achieve this velocity, e.g. (10, 50,0) will set a desired angular velocity of 10 Hz and a maximum torque of 50,000 Nm

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