Defined in include/vehicle2/suspension/PxVehicleSuspensionHelpers.h

inline void PxVehicleComputeSuspensionRaycast(const PxVehicleFrame &frame, const PxVehicleWheelParams &wheelParams, const PxVehicleSuspensionParams &suspensionParams, const PxF32 steerAngle, const PxTransform &rigidBodyPose, PxVec3 &start, PxVec3 &dir, PxReal &dist)

Compute the start point, direction and length of a suspension scene raycast.


start, dir and dist together describe a raycast that begins at the top of wheel at maximum compression and ends at the bottom of wheel at maximum droop.

  • frame[in] is a description of the longitudinal, lateral and vertical axes.

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

  • suspensionParams[in] describes the suspension frame and the maximum suspension travel.

  • steerAngle[in] is the yaw angle of the wheel in radians.

  • rigidBodyPose[in] is the pose of the rigid body in the world frame.

  • start[out] is the starting point of the raycast in the world frame.

  • dir[out] is the direction of the raycast in the world frame.

  • dist[out] is the length of the raycast.