PxVehicleTireDirsUpdate
Defined in include/vehicle2/tire/PxVehicleTireFunctions.h
-
void PxVehicleTireDirsUpdate(const PxVehicleSuspensionParams &suspensionParams, const PxReal steerAngle, const PxVehicleRoadGeometryState &roadGeometryState, const PxVehicleSuspensionComplianceState &complianceState, const PxVehicleRigidBodyState &rigidBodyState, const PxVehicleFrame &frame, PxVehicleTireDirectionState &tireDirectionState)
Compute the longitudinal and lateral tire directions in the ground plane.
Note
The difference between PxVehicleTireDirsUpdate and PxVehicleTireDirsLegacyUpdate is that PxVehicleTireDirsUpdate accounts for suspension compliance while PxVehicleTireDirsLegacyUpdate does not.
- 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.
complianceState – [in] is a description of the camber and toe angle that arise from suspension compliance.
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.