Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

void PxVehicleDifferentialStateUpdate(const PxVehicleAxleDescription &axleDescription, const PxVehicleMultiWheelDriveDifferentialParams &diffParams, PxVehicleDifferentialState &diffState)

Compute the fraction of available torque to be delivered to each wheel and gather a list of all wheels connected to the differential.

  • axleDescription[in] is a decription of the axles of the vehicle and the wheels on each axle.

  • diffParams[in] specifies the operation of a differential that can be connected to any combination of wheels.

  • diffState[out] contains the fraction of available drive torque to be delivered to each wheel connected to the differential.