PxVehicleTireDirsLegacyUpdate

Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireDirsLegacyUpdate(const PxVehicleSuspensionParams &suspensionParams, const PxReal steerAngle, const PxVehicleRoadGeometryState &roadGeometryState, const PxVehicleRigidBodyState &rigidBodyState, const PxVehicleFrame &frame, PxVehicleTireDirectionState &tireDirectionState)

Compute the longitudinal and lateral tire directions in the ground plane.

Deprecated:

Note

PxVehicleTireDirsLegacyUpdate replicates the tire direction calculation of PhysX 5.0 and earlier.

Parameters

• suspensionParams – [in] describes the frame of the suspension and wheel.

• steerAngle – [in] is the steer angle in radians to be applied to the wheel.

• roadGeometryState – [in] describes the plane of the road geometry under the wheel

• rigidBodyState – [in] describes the current pose of the vehicle’s rigid body in the world frame.

• frame – [in] is a description of the vehicle’s lateral and longitudinal axes.

• tireDirectionState – [out] is the computed tire longitudinal and lateral directions in the world frame.