Get Total Rotation of Wheel Collider

Questions & Answers
1

Hi. I’m using a wheel collider car to simulate autonomous movement in a wheeled robot. I want to simulate an encoder on the wheel collider. Is it possible to get the total degrees traveled by a wheel collider? For example, if the robot were to drive forward enough for the wheel to rotate two times, how could I get an output of 720 degrees from that?

Thanks for all the help.

2

There’s no built in rotation counter, but we can keep track of it ourselves using the wheel’s RPM;

private float totalRotations = 0f;

void LateUpdate ()
{
    //Find the current RPM and convert to rotations per second
    float rps = wheel.rpm / 60f;
    //Scale by time since the last frame and add to total
    totalRotations += rps * Time.deltaTime;

    //Just multiply by 360 to convert to degrees
    float totalDegrees = totalRotations * 360f;
    visual.localRotation = Quaternion.Euler (new Vector3 (totalDegrees, 0f, 0f));
}