PxVehicleComputeWheelLocalPose

inline PxTransform PxVehicleComputeWheelLocalPose(const PxVehicleFrame &frame, const PxVehicleSuspensionParams &suspensionParams, const PxVehicleSuspensionState &suspensionState, const PxVehicleSuspensionComplianceState &suspensionComplianceState, const PxReal steerAngle, const PxVehicleWheelRigidBody1dState &wheelState)

Compute the pose of the wheel in the rigid body frame.

Parameters

frame – [in] describes the longitudinal and lateral axes of the vehicle.
suspensionParams – [in] describes the suspension and wheel frames.
suspensionState – [in] is the compression state of the suspenson.
suspensionComplianceState – [in] is the camber and toe angles induced by suspension compliance.
steerAngle – [in] is the steer angle in radians applied to the wheel.
wheelState – [in] is angle around the wheel’s lateral axis.

Returns

The pose of the wheel in the rigid body frame.