PxVehicleWheelRigidBody1dState

Defined in include/vehicle2/wheel/PxVehicleWheelStates.h

struct PxVehicleWheelRigidBody1dState

Public Functions

inline void setToDefault()

Public Members

PxReal rotationSpeed

The rotation speed of the wheel around the lateral axis.

Unit: radians / time

PxReal correctedRotationSpeed

The corrected rotation speed of the wheel around the lateral axis in radians per second.

At low forward wheel speed, the wheel rotation speed can get unstable (depending on the tire model used) and, for example, oscillate. To integrate the wheel rotation angle, a (potentially) blended rotation speed is used which gets stored in correctedRotationSpeed.

Unit: radians / time

See also

PxVehicleSimulationContext::thresholdForwardSpeedForWheelAngleIntegration

PxReal rotationAngle

The accumulated angle of the wheel around the lateral axis in radians in range (-2*Pi,2*Pi)