# WheelCollider

> A special collider for vehicle wheels.

## Definition

* **Type:** Class
* **Namespace:** [UnityEngine](/engine/6000.7/script-reference/unityengine.md)
* **Assembly:** UnityEngine.VehiclesModule
* **Inherits from:** [Collider](/engine/6000.7/script-reference/unityengine/collider.md)

```csharp
public class WheelCollider : Collider
```

## Remarks

Wheel collider is used to model vehicle wheels. It simulates a spring and damper suspension setup, and uses a slip based tire friction model to calculate wheel contact forces.

Wheel's collision detection is performed by casting a ray from [\_center](/engine/6000.7/script-reference/unityengine/wheelcollider/center.md) downwards the local y-axis. The wheel has a [\_radius](/engine/6000.7/script-reference/unityengine/wheelcollider/radius.md) and can extend downwards by [\_suspensionDistance](/engine/6000.7/script-reference/unityengine/wheelcollider/suspensiondistance.md) amount.

The wheel is controlled with [\_motorTorque](/engine/6000.7/script-reference/unityengine/wheelcollider/motortorque.md), [\_brakeTorque](/engine/6000.7/script-reference/unityengine/wheelcollider/braketorque.md) and [\_steerAngle](/engine/6000.7/script-reference/unityengine/wheelcollider/steerangle.md) properties.

Wheel collider computes friction separately from the rest of physics engine, using a slip based friction model. This allows for more realistic behaviour, but makes wheel colliders ignore standard [PhysicsMaterial](/engine/6000.7/script-reference/unityengine/physicsmaterial.md) settings. Simulation of different road materials is done by changing the [\_forwardFriction](/engine/6000.7/script-reference/unityengine/wheelcollider/forwardfriction.md) and [\_sidewaysFriction](/engine/6000.7/script-reference/unityengine/wheelcollider/sidewaysfriction.md) based on what material the wheel is hitting.  and [WheelFrictionCurve](/engine/6000.7/script-reference/unityengine/wheelfrictioncurve.md).

Additional Resources: [WheelCollider.GetGroundHit](/engine/6000.7/script-reference/unityengine/wheelcollider/getgroundhit.md)

## Properties

| Property                                                                                                              | Description                                                                                                                                                                                                                |
| --------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [brakeTorque](/engine/6000.7/script-reference/unityengine/wheelcollider/braketorque.md)                               | Brake torque expressed in Newton metres.                                                                                                                                                                                   |
| [center](/engine/6000.7/script-reference/unityengine/wheelcollider/center.md)                                         | The center of the wheel, measured in the object's local space.                                                                                                                                                             |
| [forceAppPointDistance](/engine/6000.7/script-reference/unityengine/wheelcollider/forceapppointdistance.md)           | Application point of the suspension and tire forces measured from the base of the resting wheel.                                                                                                                           |
| [forwardFriction](/engine/6000.7/script-reference/unityengine/wheelcollider/forwardfriction.md)                       | Properties of tire friction in the direction the wheel is pointing in.                                                                                                                                                     |
| [isGrounded](/engine/6000.7/script-reference/unityengine/wheelcollider/isgrounded.md)                                 | Indicates whether the wheel currently collides with something (Read Only).                                                                                                                                                 |
| [mass](/engine/6000.7/script-reference/unityengine/wheelcollider/mass.md)                                             | The mass of the wheel, expressed in kilograms. Must be larger than zero. Typical values would be in range (20,80).                                                                                                         |
| [motorTorque](/engine/6000.7/script-reference/unityengine/wheelcollider/motortorque.md)                               | Motor torque on the wheel axle expressed in Newton metres. Positive or negative depending on direction.                                                                                                                    |
| [radius](/engine/6000.7/script-reference/unityengine/wheelcollider/radius.md)                                         | The radius of the wheel, measured in local space.                                                                                                                                                                          |
| [rotationSpeed](/engine/6000.7/script-reference/unityengine/wheelcollider/rotationspeed.md)                           | Rotation speed of the wheel, measured in degrees per second.                                                                                                                                                               |
| [rpm](/engine/6000.7/script-reference/unityengine/wheelcollider/rpm.md)                                               | Current wheel axle rotation speed, in rotations per minute (Read Only).                                                                                                                                                    |
| [sidewaysFriction](/engine/6000.7/script-reference/unityengine/wheelcollider/sidewaysfriction.md)                     | Properties of tire friction in the sideways direction.                                                                                                                                                                     |
| [sprungMass](/engine/6000.7/script-reference/unityengine/wheelcollider/sprungmass.md)                                 | The mass supported by this WheelCollider.                                                                                                                                                                                  |
| [steerAngle](/engine/6000.7/script-reference/unityengine/wheelcollider/steerangle.md)                                 | Steering angle in degrees, always around the local y-axis.                                                                                                                                                                 |
| [suspensionDistance](/engine/6000.7/script-reference/unityengine/wheelcollider/suspensiondistance.md)                 | Maximum extension distance of wheel suspension, measured in local space.                                                                                                                                                   |
| [suspensionExpansionLimited](/engine/6000.7/script-reference/unityengine/wheelcollider/suspensionexpansionlimited.md) | Limits the expansion velocity of the Wheel Collider's suspension. If you set this property on a Rigidbody that has several Wheel Colliders, such as a vehicle, then it affects all other Wheel Colliders on the Rigidbody. |
| [suspensionSpring](/engine/6000.7/script-reference/unityengine/wheelcollider/suspensionspring.md)                     | The parameters of wheel's suspension. The suspension attempts to reach a target position by applying a linear force and a damping force.                                                                                   |
| [wheelDampingRate](/engine/6000.7/script-reference/unityengine/wheelcollider/wheeldampingrate.md)                     | The damping rate of the wheel. Must be larger than zero.                                                                                                                                                                   |

## Methods

| Method                                                                                                            | Description                                                                                                                                   |
| ----------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- |
| [ConfigureVehicleSubsteps](/engine/6000.7/script-reference/unityengine/wheelcollider/configurevehiclesubsteps.md) | Configure vehicle sub-stepping parameters.                                                                                                    |
| [GetGroundHit](/engine/6000.7/script-reference/unityengine/wheelcollider/getgroundhit.md)                         | Gets ground collision data for the wheel.                                                                                                     |
| [GetWorldPose](/engine/6000.7/script-reference/unityengine/wheelcollider/getworldpose.md)                         | Gets the world space pose of the wheel accounting for ground contact, suspension limits, steer angle, and rotation angle (angles in degrees). |
| [ResetSprungMasses](/engine/6000.7/script-reference/unityengine/wheelcollider/resetsprungmasses.md)               | Reset the sprung masses of the vehicle.                                                                                                       |

## Inheritance

**Inherited Members:**

* [Collider.ClosestPoint(Vector3)](/engine/6000.7/script-reference/unityengine/collider/closestpoint.md)
* [Collider.GetGeometry\<T>()](/engine/6000.7/script-reference/unityengine/collider/getgeometry.md)
* [Collider.Raycast(Ray, RaycastHit, float)](/engine/6000.7/script-reference/unityengine/collider/raycast.md)
* [Collider.ClosestPointOnBounds(Vector3)](/engine/6000.7/script-reference/unityengine/collider/closestpointonbounds.md)
* [Collider.enabled](/engine/6000.7/script-reference/unityengine/collider/enabled.md)
* [Collider.attachedRigidbody](/engine/6000.7/script-reference/unityengine/collider/attachedrigidbody.md)
* [Collider.attachedArticulationBody](/engine/6000.7/script-reference/unityengine/collider/attachedarticulationbody.md)
* [Collider.isTrigger](/engine/6000.7/script-reference/unityengine/collider/istrigger.md)
* [Collider.contactOffset](/engine/6000.7/script-reference/unityengine/collider/contactoffset.md)
* [Collider.bounds](/engine/6000.7/script-reference/unityengine/collider/bounds.md)
* [Collider.hasModifiableContacts](/engine/6000.7/script-reference/unityengine/collider/hasmodifiablecontacts.md)
* [Collider.providesContacts](/engine/6000.7/script-reference/unityengine/collider/providescontacts.md)
* [Collider.layerOverridePriority](/engine/6000.7/script-reference/unityengine/collider/layeroverridepriority.md)
* [Collider.excludeLayers](/engine/6000.7/script-reference/unityengine/collider/excludelayers.md)
* [Collider.includeLayers](/engine/6000.7/script-reference/unityengine/collider/includelayers.md)
* [Collider.GeometryHolder()](/engine/6000.7/script-reference/unityengine/collider/geometryholder.md)
* [Collider.sharedMaterial](/engine/6000.7/script-reference/unityengine/collider/sharedmaterial.md)
* [Collider.material](/engine/6000.7/script-reference/unityengine/collider/material.md)
* [Component.GetComponent(Type)](/engine/6000.7/script-reference/unityengine/component/getcomponent.md#getcomponent\(type\))
* [Component.GetComponent\<T>()](/engine/6000.7/script-reference/unityengine/component/getcomponent.md)
* [Component.TryGetComponent(Type, Component)](/engine/6000.7/script-reference/unityengine/component/trygetcomponent.md)
* [Component.TryGetComponent\<T>(T)](/engine/6000.7/script-reference/unityengine/component/trygetcomponent.md)
* [Component.GetComponent(string)](/engine/6000.7/script-reference/unityengine/component/getcomponent.md#getcomponent\(string\))
* [Component.GetComponentInChildren(Type, bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentinchildren.md#getcomponentinchildren\(type-bool\))
* [Component.GetComponentInChildren(Type)](/engine/6000.7/script-reference/unityengine/component/getcomponentinchildren.md#getcomponentinchildren\(type\))
* [Component.GetComponentInChildren\<T>(bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentinchildren.md)
* [Component.GetComponentsInChildren(Type, bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinchildren.md)
* [Component.GetComponentsInChildren\<T>(bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinchildren.md#getcomponentsinchildrent\(bool\))
* [Component.GetComponentsInChildren\<T>(bool, List\<T>)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinchildren.md)
* [Component.GetComponentsInChildren\<T>()](/engine/6000.7/script-reference/unityengine/component/getcomponentsinchildren.md#getcomponentsinchildrent\(\))
* [Component.GetComponentsInChildren\<T>(List\<T>)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinchildren.md)
* [Component.GetComponentInParent(Type, bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentinparent.md#getcomponentinparent\(type-bool\))
* [Component.GetComponentInParent(Type)](/engine/6000.7/script-reference/unityengine/component/getcomponentinparent.md#getcomponentinparent\(type\))
* [Component.GetComponentInParent\<T>(bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentinparent.md#getcomponentinparentt\(bool\))
* [Component.GetComponentInParent\<T>()](/engine/6000.7/script-reference/unityengine/component/getcomponentinparent.md#getcomponentinparentt\(\))
* [Component.GetComponentsInParent(Type, bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinparent.md)
* [Component.GetComponentsInParent\<T>(bool)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinparent.md#getcomponentsinparentt\(bool\))
* [Component.GetComponentsInParent\<T>(bool, List\<T>)](/engine/6000.7/script-reference/unityengine/component/getcomponentsinparent.md)
* [Component.GetComponentsInParent\<T>()](/engine/6000.7/script-reference/unityengine/component/getcomponentsinparent.md#getcomponentsinparentt\(\))
* [Component.GetComponents(Type)](/engine/6000.7/script-reference/unityengine/component/getcomponents.md#getcomponents\(type\))
* [Component.GetComponents(Type, List\<Component>)](/engine/6000.7/script-reference/unityengine/component/getcomponents.md#getcomponents\(type-listcomponent\))
* [Component.GetComponents\<T>(List\<T>)](/engine/6000.7/script-reference/unityengine/component/getcomponents.md)
* [Component.GetComponents\<T>()](/engine/6000.7/script-reference/unityengine/component/getcomponents.md#getcomponentst\(\))
* [Component.GetComponentIndex()](/engine/6000.7/script-reference/unityengine/component/getcomponentindex.md)
* [Component.CompareTag(string)](/engine/6000.7/script-reference/unityengine/component/comparetag.md#comparetag\(string\))
* [Component.CompareTag(TagHandle)](/engine/6000.7/script-reference/unityengine/component/comparetag.md#comparetag\(taghandle\))
* [Component.SendMessageUpwards(string, Object, SendMessageOptions)](/engine/6000.7/script-reference/unityengine/component/sendmessageupwards.md#sendmessageupwards\(string-object-sendmessageoptions\))
* [Component.SendMessageUpwards(string, SendMessageOptions)](/engine/6000.7/script-reference/unityengine/component/sendmessageupwards.md#sendmessageupwards\(string-sendmessageoptions\))
* [Component.SendMessage(string, Object)](/engine/6000.7/script-reference/unityengine/component/sendmessage.md#sendmessage\(string-object\))
* [Component.SendMessage(string)](/engine/6000.7/script-reference/unityengine/component/sendmessage.md#sendmessage\(string\))
* [Component.SendMessage(string, Object, SendMessageOptions)](/engine/6000.7/script-reference/unityengine/component/sendmessage.md#sendmessage\(string-object-sendmessageoptions\))
* [Component.SendMessage(string, SendMessageOptions)](/engine/6000.7/script-reference/unityengine/component/sendmessage.md#sendmessage\(string-sendmessageoptions\))
* [Component.BroadcastMessage(string, Object, SendMessageOptions)](/engine/6000.7/script-reference/unityengine/component/broadcastmessage.md#broadcastmessage\(string-object-sendmessageoptions\))
* [Component.BroadcastMessage(string, SendMessageOptions)](/engine/6000.7/script-reference/unityengine/component/broadcastmessage.md#broadcastmessage\(string-sendmessageoptions\))
* [Component.transform](/engine/6000.7/script-reference/unityengine/component/transform.md)
* [Component.transformHandle](/engine/6000.7/script-reference/unityengine/component/transformhandle.md)
* [Component.gameObject](/engine/6000.7/script-reference/unityengine/component/gameobject.md)
* [Component.tag](/engine/6000.7/script-reference/unityengine/component/tag.md)
* [Object.GetEntityId()](/engine/6000.7/script-reference/unityengine/object/getentityid.md)
* [Object.GetHashCode()](/engine/6000.7/script-reference/unityengine/object/gethashcode.md)
* [Object.InstantiateAsync\<T>(T)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, Transform)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, Vector3, Quaternion)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, Transform, Vector3, Quaternion)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Transform)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Vector3, Quaternion)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, ReadOnlySpan\<Vector3>, ReadOnlySpan\<Quaternion>)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Transform, Vector3, Quaternion)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Transform, Vector3, Quaternion, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Transform, ReadOnlySpan\<Vector3>, ReadOnlySpan\<Quaternion>)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Transform, ReadOnlySpan\<Vector3>, ReadOnlySpan\<Quaternion>, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, InstantiateParameters, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, InstantiateParameters, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, Vector3, Quaternion, InstantiateParameters, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, Vector3, Quaternion, InstantiateParameters, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.InstantiateAsync\<T>(T, int, ReadOnlySpan\<Vector3>, ReadOnlySpan\<Quaternion>, InstantiateParameters, CancellationToken)](/engine/6000.7/script-reference/unityengine/object/instantiateasync.md)
* [Object.Instantiate(Object, Vector3, Quaternion)](/engine/6000.7/script-reference/unityengine/object/instantiate.md#instantiate\(object-vector3-quaternion\))
* [Object.Instantiate(Object, Vector3, Quaternion, Transform)](/engine/6000.7/script-reference/unityengine/object/instantiate.md#instantiate\(object-vector3-quaternion-transform\))
* [Object.Instantiate(Object)](/engine/6000.7/script-reference/unityengine/object/instantiate.md#instantiate\(object\))
* [Object.Instantiate(Object, Scene)](/engine/6000.7/script-reference/unityengine/object/instantiate.md#instantiate\(object-scene\))
* [Object.Instantiate\<T>(T, InstantiateParameters)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Instantiate\<T>(T, Vector3, Quaternion, InstantiateParameters)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Instantiate(Object, Transform)](/engine/6000.7/script-reference/unityengine/object/instantiate.md#instantiate\(object-transform\))
* [Object.Instantiate(Object, Transform, bool)](/engine/6000.7/script-reference/unityengine/object/instantiate.md#instantiate\(object-transform-bool\))
* [Object.Instantiate\<T>(T)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Instantiate\<T>(T, Vector3, Quaternion)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Instantiate\<T>(T, Vector3, Quaternion, Transform)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Instantiate\<T>(T, Transform)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Instantiate\<T>(T, Transform, bool)](/engine/6000.7/script-reference/unityengine/object/instantiate.md)
* [Object.Destroy(Object, float)](/engine/6000.7/script-reference/unityengine/object/destroy.md)
* [Object.DestroyImmediate(Object, bool)](/engine/6000.7/script-reference/unityengine/object/destroyimmediate.md)
* [Object.FindObjectsByType(Type)](/engine/6000.7/script-reference/unityengine/object/findobjectsbytype.md#findobjectsbytype\(type\))
* [Object.FindObjectsByType(Type, FindObjectsInactive)](/engine/6000.7/script-reference/unityengine/object/findobjectsbytype.md#findobjectsbytype\(type-findobjectsinactive\))
* [Object.DontDestroyOnLoad(Object)](/engine/6000.7/script-reference/unityengine/object/dontdestroyonload.md)
* [Object.FindAnyObjectByType\<T>()](/engine/6000.7/script-reference/unityengine/object/findanyobjectbytype.md#findanyobjectbytypet\(\))
* [Object.FindAnyObjectByType\<T>(FindObjectsInactive)](/engine/6000.7/script-reference/unityengine/object/findanyobjectbytype.md#findanyobjectbytypet\(findobjectsinactive\))
* [Object.FindObjectsByType\<T>()](/engine/6000.7/script-reference/unityengine/object/findobjectsbytype.md#findobjectsbytypet\(\))
* [Object.FindObjectsByType\<T>(FindObjectsInactive)](/engine/6000.7/script-reference/unityengine/object/findobjectsbytype.md#findobjectsbytypet\(findobjectsinactive\))
* [Object.FindAnyObjectByType(Type)](/engine/6000.7/script-reference/unityengine/object/findanyobjectbytype.md#findanyobjectbytype\(type\))
* [Object.FindAnyObjectByType(Type, FindObjectsInactive)](/engine/6000.7/script-reference/unityengine/object/findanyobjectbytype.md#findanyobjectbytype\(type-findobjectsinactive\))
* [Object.ToString()](/engine/6000.7/script-reference/unityengine/object/tostring.md)
* [Object.name](/engine/6000.7/script-reference/unityengine/object/name.md)
* [Object.hideFlags](/engine/6000.7/script-reference/unityengine/object/hideflags.md)

### Operators

| Operator                                                                           | Description                                                             |
| ---------------------------------------------------------------------------------- | ----------------------------------------------------------------------- |
| [operator ==](/engine/6000.7/script-reference/unityengine/object/op-equality.md)   | Compares two object references to see if they refer to the same object. |
| [bool](/engine/6000.7/script-reference/unityengine/object/op-implicit.md)          | Determines whether the object exists.                                   |
| [operator !=](/engine/6000.7/script-reference/unityengine/object/op-inequality.md) | Compares if two objects refer to a different object.                    |