PxVehicleTireSlipParams
Defined in include/vehicle2/PxVehicleParams.h

struct PxVehicleTireSlipParams
Tire slip values are computed using ratios with potential for dividebyzero errors.
PxVehicleTireSlipParams introduces a minimum value for the denominator of each of these ratios.
Public Functions

inline void setToDefault()

inline PxVehicleTireSlipParams transformAndScale(const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const

inline bool isValid() const
Public Members

PxReal minLatSlipDenominator
The lateral slip angle is typically computed as a function of the ratio of lateral and longitudinal speeds of the rigid body in the tire’s frame.
This leads to a dividebyzero in the event that the longitudinal speed approaches zero. The parameter minLatSlipDenominator sets a minimum denominator for the ratio of speeds used to compute the lateral slip angle. Range: (0, inf)Unit: velocity = length / time
Note
Larger timesteps typically require larger values of minLatSlipDenominator.

PxReal minPassiveLongSlipDenominator
The longitudinal slip represents the difference between the longitudinal speed of the rigid body in the tire’s frame and the linear speed arising from the rotation of the wheel.
This is typically normalized using the reciprocal of the longitudinal speed of the rigid body in the tire’s frame. This leads to a dividebyzero in the event that the longitudinal speed approaches zero. The parameter minPassiveLongSlipDenominator sets a minimum denominator for the normalized longitudinal slip when the wheel experiences zero drive torque and zero brake torque and zero handbrake torque. The aim is to bring the vehicle to rest without experiencing wheel rotational speeds that oscillate around zero. Range: (0, inf)Unit: velocity = length / time
Note
The vehicle will come to rest more smoothly with larger values of minPassiveLongSlipDenominator, particularly with large timesteps that often lead to oscillation in wheel rotation speeds when the wheel rotation speed approaches zero.
Note
It is recommended that minActiveLongSlipDenominator < minPassiveLongSlipDenominator.

PxReal minActiveLongSlipDenominator
The longitudinal slip represents the difference between the longitudinal speed of the rigid body in the tire’s frame and the linear speed arising from the rotation of the wheel.
This is typically normalized using the reciprocal of the longitudinal speed of the rigid body in the tire’s frame. This leads to a dividebyzero in the event that the longitudinal speed approaches zero. The parameter minActiveLongSlipDenominator sets a minimum denominator for the normalized longitudinal slip when the wheel experiences either a nonzero drive torque or a nonzero brake torque or a nonzero handbrake torque. Range: (0, inf)Unit: velocity = length / time
Note
Larger timesteps typically require larger values of minActiveLongSlipDenominator to avoid instabilities occurring when the vehicle is aggressively throttled from rest.
Note
It is recommended that minActiveLongSlipDenominator < minPassiveLongSlipDenominator.

inline void setToDefault()