Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

void PxVehicleEngineDriveActuationStateUpdate(const PxVehicleAxleDescription &axleDescription, const PxVehicleGearboxParams &gearboxParams, const PxVehicleArrayData<const PxReal> &brakeResponseStates, const PxVehicleEngineDriveThrottleCommandResponseState &throttleResponseState, const PxVehicleGearboxState &gearboxState, const PxVehicleDifferentialState &diffState, const PxVehicleClutchCommandResponseState &clutchResponseState, PxVehicleArrayData<PxVehicleWheelActuationState> &actuationStates)

Determine the actuation state of all wheels on a vehicle.


Drive torque is not applied to a wheel if a) the gearbox is in neutral b) the differential delivers no torque to the wheel c) no throttle is applied to the engine c) the clutch is fully disengaged.

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

  • gearboxParams[in] specifies the index of the neutral gear of the gearbox.

  • brakeResponseStates[in] specifies the response of each wheel to the input brake command.

  • throttleResponseState[in] specifies the response of the engine to the input throttle command.

  • gearboxState[in] specifies the current gear.

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

  • clutchResponseState[in] specifies the response of the clutch to the input throttle command.

  • actuationStates[out] is an array of binary records determining whether brake and drive torque are to be applied to each wheel.