PxVehicleTireSlipSpeedsUpdate

Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireSlipSpeedsUpdate(const PxVehicleWheelParams &wheelParams, const PxVehicleSuspensionParams &suspensionParams, const PxF32 steerAngle, const PxVehicleSuspensionState &suspensionStates, const PxVehicleTireDirectionState &tireDirectionState, const PxVehicleRigidBodyState &rigidBodyState, const PxVehicleRoadGeometryState &roadGeometryState, const PxVehicleFrame &frame, PxVehicleTireSpeedState &tireSpeedState)

Project the rigid body velocity at the tire contact point along the tire longitudinal directions.

Parameters
  • wheelParams[in] is a description of the wheel’s radius and half-width.

  • suspensionParams[in] describes the frame of the suspension and wheel.

  • steerAngle[in] is the steer angle in radians to be applied to the wheel.

  • suspensionStates[in] is the current suspension compression state.

  • tireDirectionState[in] is the tire’s longitudinal and lateral directions in the ground plane.

  • rigidBodyState[in] describes the current pose and velocity of the vehicle’s rigid body in the world frame.

  • roadGeometryState[in] describes the current velocity of the road geometry under each wheel.

  • frame[in] is a description of the vehicle’s lateral and longitudinal axes.

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