Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireSlipsUpdate(const PxVehicleWheelParams &wheelParams, const PxVehicleTireSlipParams &tireSlipParams, const PxVehicleWheelActuationState &actuationState, PxVehicleTireSpeedState &tireSpeedState, const PxVehicleWheelRigidBody1dState &wheelRigidBody1dState, PxVehicleTireSlipState &tireSlipState)

Compute a tire’s longitudinal and lateral slip angles.


Longitudinal slip angle has the following theoretical form: (wheelRotationSpeed*wheelRadius - longitudinalSpeed)/|longitudinalSpeed|


Lateral slip angle has the following theoretical form: atan(lateralSpeed/|longitudinalSpeed|)


The calculation of both longitudinal and lateral slip angles avoid a zero denominator using minimum values for the denominator set in tireSlipParams.

  • wheelParams[in] describes the radius of the wheel.

  • tireSlipParams[in] describes how to manage small longitudinal speeds by setting minimum values on the denominator of the quotients used to calculate lateral and longitudinal slip.

  • actuationState[in] describes whether a wheel is to be driven by a drive torque or not.

  • tireSpeedState[in] is the component of rigid body velocity at the tire contact point projected along the tire’s longitudinal and lateral axes.

  • wheelRigidBody1dState[in] is the wheel rotation speed.

  • tireSlipState[out] is the computed tire longitudinal and lateral slips.