PxVehicleWheelConstraintGroupState
Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainStates.h
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struct PxVehicleWheelConstraintGroupState
Specify groups of wheels that are to be constrained to have pre-determined angular velocity relationship.
Public Functions
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inline void setToDefault()
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inline void addConstraintGroup(const PxU32 nbWheelsInGroupToAdd, const PxU32 *const wheelIdsInGroupToAdd, const PxF32 *constraintMultipliers)
Add a wheel constraint group by specifying the number of wheels in the group, an array of wheel ids specifying each wheel in the group and a desired rotational speed relationship.
Note
constraintMultipliers[j] specifies the target rotational speed of the jth wheel in the constraint group as a multiplier of the rotational speed of the zeroth wheel in the group.
- Parameters
nbWheelsInGroupToAdd – [in] is the number of wheels in the group to be added.
wheelIdsInGroupToAdd – [in] is an array of wheel ids specifying all the wheels in the group to be added.
constraintMultipliers – [in] is an array of constraint multipliers describing the desired relationship of the wheel rotational speeds.
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inline PxU32 getNbConstraintGroups() const
Return the number of wheel constraint groups in the vehicle.
See also
- Returns
The number of wheel constraint groups.
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inline PxU32 getNbWheelsInConstraintGroup(const PxU32 i) const
Return the number of wheels in the ith constraint group.
See also
- Parameters
i – [in] specifies the constraint group to be queried for its wheel count.
- Returns
The number of wheels in the specified constraint group.
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inline PxU32 getWheelInConstraintGroup(const PxU32 j, const PxU32 i) const
Return the wheel id of the jth wheel in the ith constraint group.
See also
- Parameters
j – [in] specifies that the wheel id to be returned is the jth wheel in the list of wheels on the specified constraint group.
i – [in] specifies the constraint group to be queried.
- Returns
The wheel id of the jth wheel in the ith constraint group.
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inline PxReal getMultiplierInConstraintGroup(const PxU32 j, const PxU32 i) const
Return the constraint multiplier of the jth wheel in the ith constraint group.
- Parameters
j – [in] specifies that the wheel id to be returned is the jth wheel in the list of wheels on the specified constraint group.
i – [in] specifies the constraint group to be queried.
- Returns
The constraint multiplier of the jth wheel in the ith constraint group.
Public Members
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PxU32 nbWheelsPerGroup[PxVehicleLimits::eMAX_NB_AXLES]
The number of wheels in each group.
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PxU32 groupToWheelIds[PxVehicleLimits::eMAX_NB_AXLES]
The list of wheel ids for the ith group begins at wheelIdsInGroupOrder[groupToWheelIds[i]].
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PxU32 wheelIdsInGroupOrder[PxVehicleLimits::eMAX_NB_WHEELS]
The list of all wheel ids in constraint groups.
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PxF32 wheelMultipliersInGroupOrder[PxVehicleLimits::eMAX_NB_WHEELS]
The constraint multipliers for each constraint group.
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inline void setToDefault()