PxVehicleLegacyDifferentialTorqueRatiosCompute
Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainHelpers.h
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void PxVehicleLegacyDifferentialTorqueRatiosCompute(const PxVehicleFourWheelDriveDifferentialLegacyParams &diffParams, const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> &wheelOmegas, const PxU32 nbWheels, PxReal *diffTorqueRatios)
Compute the fraction of available torque that is delivered to each wheel through the differential.
- Deprecated:
Note
Any wheel on an axle connected to the diff could receive a non-zero ratio, depending on the way the differential couples to the wheels.
Note
Any wheel not on an axle connected to the diff will have a zero value.
Note
The sum of all the ratios adds to 1.0.
Note
Slipping wheels driven by the differential will typically receive less torque than non-slipping wheels in the event that the differential has a limited slip configuration.
- Parameters
diffParams – [in] describes the wheels coupled to the differential and the operation of the torque split at the differential.
wheelOmegas – [in] describes the rotational speeds of the wheels. Is expected to have nbWheels entries.
nbWheels – [in] The number of wheels. Can be larger than the number of wheels connected to the differential.
diffTorqueRatios – [out] describes the fraction of available torque delivered to each wheel. The buffer needs to be sized to be able to hold at least nbWheels entries.