Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireDirsUpdate(const PxVehicleSuspensionParams &suspensionParams, const PxReal steerAngle, const PxVehicleRoadGeometryState &roadGeometryState, const PxVehicleSuspensionComplianceState &complianceState, const PxVehicleRigidBodyState &rigidBodyState, const PxVehicleFrame &frame, PxVehicleTireDirectionState &tireDirectionState)

Compute the longitudinal and lateral tire directions in the ground plane.


The difference between PxVehicleTireDirsUpdate and PxVehicleTireDirsLegacyUpdate is that PxVehicleTireDirsUpdate accounts for suspension compliance while PxVehicleTireDirsLegacyUpdate does not.

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

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

  • roadGeometryState[in] describes the plane of the road geometry under the wheel.

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

  • complianceState[in] is a description of the camber and toe angle that arise from suspension compliance.

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

  • tireDirectionState[out] is the computed tire longitudinal and lateral directions in the world frame.