PxVehicleDifferentialStateUpdate

Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

void PxVehicleDifferentialStateUpdate(const PxVehicleAxleDescription &axleDescription, const PxVehicleFourWheelDriveDifferentialParams &diffParams, const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> &wheelStates, const PxReal dt, PxVehicleDifferentialState &diffState, PxVehicleWheelConstraintGroupState &wheelConstraintGroupState)

Compute the fraction of available torque to be delivered to each wheel and gather a list of all wheels connected to the differential.

Additionally, add wheel constraints for wheel pairs whose rotational speed ratio exceeds the corresponding differential bias.

Parameters

  • axleDescription – [in] is a decription of the axles of the vehicle and the wheels on each axle.

  • diffParams – [in] describe the division of available drive torque and the biases of the limited slip differential.

  • wheelStates – [in] describes the rotational speeds of each wheel.

  • dt – [in] is the simulation time that has passes since the last call to PxVehicleDifferentialStateUpdate()

  • diffState – [out] contains the fraction of available drive torque to be delivered to each wheel.

  • wheelConstraintGroupState – [out] describes the groups of wheels that have exceeded their corresponding differential biases.