PxVehicleLegacySuspensionComponent

Defined in include/vehicle2/suspension/PxVehicleSuspensionComponents.h

class PxVehicleLegacySuspensionComponent : public PxVehicleComponent

Deprecated:

This API was introduced with the new Vehicle API for transition purposes but will be removed in a future version.

Public Functions

inline PxVehicleLegacySuspensionComponent()

inline virtual ~PxVehicleLegacySuspensionComponent()

virtual void getDataForLegacySuspensionComponent(const PxVehicleAxleDescription *&axleDescription, const PxVehicleSuspensionStateCalculationParams *&suspensionStateCalculationParams, PxVehicleArrayData<const PxReal> &steerResponseStates, const PxVehicleRigidBodyState *&rigidBodyState, PxVehicleArrayData<const PxVehicleWheelParams> &wheelParams, PxVehicleArrayData<const PxVehicleSuspensionParams> &suspensionParams, PxVehicleArrayData<const PxVehicleSuspensionComplianceParams> &suspensionComplianceParams, PxVehicleArrayData<const PxVehicleSuspensionForceLegacyParams> &suspensionForceParams, PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams> &antiRollForceParams, PxVehicleArrayData<const PxVehicleRoadGeometryState> &wheelRoadGeomStates, PxVehicleArrayData<PxVehicleSuspensionState> &suspensionStates, PxVehicleArrayData<PxVehicleSuspensionComplianceState> &suspensionComplianceStates, PxVehicleArrayData<PxVehicleSuspensionForce> &suspensionForces, PxVehicleAntiRollTorque *&antiRollTorque) = 0

Retrieve pointers to the parameter and state data required to compute the suspension state and the forces/torques that arise from the suspension state.

Note

antiRollForceParams and antiRollTorque should be returned either both non-NULL or both NULL.

Parameters

• axleDescription – [out] must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles of the vehicle.

• suspensionStateCalculationParams – [out] must be returned as a non-null pointer to a single PxVehicleSuspensionStateCalculationParams instance that describes the jounce computation type etc.

• steerResponseStates – [out] must be returned as a non-null pointer to a single PxVehicleSteerCommandResponseStates instance that describes the steer state of the wheels.

• rigidBodyState – [out] must be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that describes the pose and momentum of the vehicle’s rigid body.

• wheelParams – [out] must be set to a non-null pointer to an array of PxVehicleWheelParams containing per-wheel parameters for each wheel referenced by axleDescription.

• suspensionParams – [out] must be set to a non-null pointer to an array of PxVehicleSuspensionParams containing per-wheel parameters for each wheel referenced by axleDescription.

• suspensionComplianceParams – [out] must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceParams containing per-wheel parameters for each wheel referenced by axleDescription.

• suspensionForceParams – [out] must be set to a non-null pointer to an array of PxVehicleSuspensionForceLegacyParams containing per-wheel parameters for each wheel referenced by axleDescription.

• antiRollForceParams – [out] is optionally returned as a non-null pointer to an array of PxVehicleAntiRollForceParams with each element in the array describing a unique anti-roll bar connecting a pair of wheels.

• wheelRoadGeomStates – [out] must be set to non-null pointer to an array of PxVehicleRoadGeometryState containing per-wheel road geometry for each wheel referenced by axleDescription.

• suspensionStates – [out] must be set to a non-null pointer to an array of PxVehicleSuspensionState containing per-wheel suspension state for each wheel referenced by axleDescription.

• suspensionComplianceStates – [out] must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceState containing per-wheel suspension compliance state for each wheel referenced by axleDescription.

• suspensionForces – [out] must be set to a non-null pointer to an array of PxVehicleSuspensionForce containing per-wheel suspension forces for each wheel referenced by axleDescription.

• antiRollTorque – [out] is optionally returned as a non-null pointer to a single PxVehicleAntiRollTorque instance that will store the accumulated anti-roll torque to be applied to the vheicle’s rigid body.

inline virtual bool update(const PxReal dt, const PxVehicleSimulationContext &context)

Update the suspension state and suspension compliance state and use those updated states to compute suspension and anti-roll forces/torques to apply to the vehicle’s rigid body.

Note

The suspension and anti-roll forces are computed in the world frame.

Note

PxVehicleLegacySuspensionComponent::update() implements legacy suspension behaviour.

Parameters

• dt – [in] is the simulation time that has passed since the last call to PxVehicleSuspensionComponent::update()

• context – [in] describes a variety of global simulation constants such as frame and scale of the simulation and the gravitational acceleration of the simulated environment.