PxVehicleTankDriveDifferentialStateComponent
Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainComponents.h
Inheritance Relationships
Base Type
public PxVehicleComponent(PxVehicleComponent)
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class PxVehicleTankDriveDifferentialStateComponent : public PxVehicleComponent
Compute the per wheel drive torque split of a tank drive differential.
See also
Public Functions
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inline PxVehicleTankDriveDifferentialStateComponent()
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inline virtual ~PxVehicleTankDriveDifferentialStateComponent()
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virtual void getDataForTankDriveDifferentialStateComponent(const PxVehicleAxleDescription *&axleDescription, const PxVehicleTankDriveTransmissionCommandState *&transmissionCommands, PxVehicleArrayData<const PxVehicleWheelParams> &wheelParams, const PxVehicleTankDriveDifferentialParams *&differentialParams, PxVehicleDifferentialState *&differentialState, PxVehicleWheelConstraintGroupState *&constraintGroupState) = 0
Provide vehicle data items for this component.
- Parameters
axleDescription – [out] identifies the wheels on each axle.
transmissionCommands – [out] specifies the values of the thrust controllers that divert torque to the tank tracks.
wheelParams – [out] is an array describing the radius of each wheel.
differentialParams – [out] describes the operation of the tank differential by specifying the default torque split between all wheels connected to the differential and by specifying the wheels coupled to each tank track.
differentialState – [out] stores the instantaneous torque split between all wheels arising from the difference between the thrust controllers.
constraintGroupState – [out] stores the groups of wheels that are connected by sharing a tank track.
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inline virtual bool update(const PxReal dt, const PxVehicleSimulationContext &context)
Update function for a vehicle component.
See also
- Parameters
dt – [in] The timestep size to use for the update step.
context – [in] Vehicle simulation context holding global data or data that usually applies to a large group of vehicles.
- Returns
True if subsequent components in a sequence should get updated, false if the sequence should be aborted.
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inline PxVehicleTankDriveDifferentialStateComponent()