PxVehicleSuspensionComponent

Defined in include/vehicle2/suspension/PxVehicleSuspensionComponents.h

class PxVehicleSuspensionComponent : public PxVehicleComponent 

Public Functions

inline PxVehicleSuspensionComponent()

inline virtual ~PxVehicleSuspensionComponent()

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.
rigidBodyParams – [out] must be returned as a a non-null pointer to a single PxVehicleRigidBodyParams instance that describes the mass and moment of inertia of the vehicle’s rigid body.
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 PxVehicleSuspensionForceParams 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/torques are computed in the world frame.

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.