Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

void PxVehicleDirectDriveUpdate(const PxVehicleWheelParams &wheelParams, const PxVehicleWheelActuationState &actuationState, const PxReal brakeTorque, const PxReal driveTorque, const PxVehicleTireForce &tireForce, const PxF32 dt, PxVehicleWheelRigidBody1dState &wheelRigidBody1dState)

Forward integrate the angular speed of a wheel given the brake and drive torque applied to it.

  • wheelParams[in] specifies the moment of inertia of the wheel.

  • actuationState[in] is a binary record of whether brake and drive torque are to be applied to the wheel.

  • brakeTorque[in] is the brake torque to be applied to the wheel.

  • driveTorque[in] is the drive torque to be applied to the wheel.

  • tireForce[in] specifies the torque to apply to the wheel as a response to the longitudinal tire force.

  • dt[in] is the timestep of the forward integration.

  • wheelRigidBody1dState[out] describes the angular speed of the wheel.