PxVehicleComputeWheelOrientation
Defined in include/vehicle2/wheel/PxVehicleWheelHelpers.h
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inline PxQuat PxVehicleComputeWheelOrientation(const PxVehicleFrame &frame, const PxVehicleSuspensionParams &suspensionParams, const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle, const PxQuat &rigidBodyOrientation, const PxReal rotationAngle)
Compute the quaternion of a wheel in the world frame.
- Parameters
frame – [in] describes the longitudinal and lateral axes of the vehicle.
suspensionParams – [in] describes the suspension and wheel frames.
camberAngle – [in] is the camber angle in radian induced by suspension compliance.
toeAngle – [in] is the toe angle in radians induced by suspension compliance.
steerAngle – [in] is the steer angle in radians applied to the wheel.
rigidBodyOrientation – [in] is the quaterion of the rigid body in the world frame.
rotationAngle – [in] is the angle around the wheel’s lateral axis.
- Returns
The quaterion of the wheel in the world frame.