PxVehicleFourWheelDriveDifferentialLegacyParams
Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h
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struct PxVehicleFourWheelDriveDifferentialLegacyParams
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Public Types
Public Functions
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inline PxVehicleFourWheelDriveDifferentialLegacyParams transformAndScale(const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const
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inline bool isValid(const PxVehicleAxleDescription &axleDesc) const
Public Members
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PxU32 frontWheelIds[2]
The two front wheels are specified by the array frontWheelIds.
Note
The states eDIFF_TYPE_LS_4WD, eDIFF_TYPE_LS_FRONTWD require knowledge of the front wheels to allow torque splits between front and rear axles as well as torque splits across the front axle.
Note
frontWheelIds[0] should specify the wheel on the front axle that is negatively placed on the lateral axis.
Note
frontWheelIds[1] should specify the wheel on the front axle that is positively placed on the lateral axis.
Note
If frontNegPosSplit > 0.5, more torque will be delivered to the wheel specified by frontWheelIds[0] than to the wheel specified by frontWheelIds[1]. The converse is true if frontNegPosSplit < 0.5.
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PxU32 rearWheelIds[2]
The two rear wheels are specified by the array rearWheelIds.
Note
The states eDIFF_TYPE_LS_4WD, eDIFF_TYPE_LS_REARWD require knowledge of the rear wheels to allow torque splits between front and rear axles as well as torque splits across the rear axle.
Note
rearWheelIds[0] should specify the wheel on the rear axle that is negatively placed on the lateral axis.
Note
rearWheelIds[1] should specify the wheel on the rear axle that is positively placed on the lateral axis.
Note
If rearNegPosSplit > 0.5, more torque will be delivered to the wheel specified by rearWheelIds[0] than to the wheel specified by rearWheelIds[1]. The converse is true if rearNegPosSplit < 0.5.
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PxReal frontRearSplit
Ratio of torque split between front and rear wheels (>0.5 means more front, <0.5 means more to rear).
Range: [0, 1]
Note
Only applied to DIFF_TYPE_LS_4WD
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PxReal frontNegPosSplit
Ratio of torque split between front-negative and front-positive wheels (>0.5 means more to frontWheelIds[0], <0.5 means more to frontWheelIds[1]).
Range: [0, 1]
Note
Only applied to DIFF_TYPE_LS_4WD and DIFF_TYPE_LS_FRONTWD
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PxReal rearNegPosSplit
Ratio of torque split between rear-negative wheel and rear-positive wheels (>0.5 means more to rearWheelIds[0], <0.5 means more to rearWheelIds[1]).
Range: [0, 1]
Note
Only applied to DIFF_TYPE_LS_4WD and eDIFF_TYPE_LS_REARWD
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PxReal centerBias
Maximum allowed ratio of average front wheel rotation speed and rear wheel rotation speeds.
The differential will divert more torque to the slower wheels when the bias is exceeded.
Range: [1, inf)
Note
Only applied to DIFF_TYPE_LS_4WD
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PxReal frontBias
Maximum allowed ratio of front-left and front-right wheel rotation speeds.
The differential will divert more torque to the slower wheel when the bias is exceeded.
Range: [1, inf)
Note
Only applied to DIFF_TYPE_LS_4WD and DIFF_TYPE_LS_FRONTWD