Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

void PxVehicleDifferentialStateUpdate(const PxVehicleFourWheelDriveDifferentialLegacyParams &diffParams, const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> &wheelStates, 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.



If the handbrake is on then torque is only delivered to the wheels specified as the front wheels of the differential.

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

  • wheelStates[in] describes the angular speed of each wheel

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