PxVehicleDifferentialStateUpdate

void PxVehicleDifferentialStateUpdate(const PxVehicleAxleDescription &axleDescription, const PxVehicleArrayData<const PxVehicleWheelParams> &wheelParams, const PxVehicleTankDriveDifferentialParams &diffParams, const PxReal thrustCommand0, PxReal thrustCommand1, 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.

Parameters

axleDescription – [in] is a decription of the axles of the vehicle and the wheels on each axle.
wheelParams – [in] is an array that describes the wheel radius of each wheel.
diffParams – [in] specifies the operation of a tank differential.
thrustCommand0 – [in] is the state of one of the two thrust controllers.
thrustCommand1 – [in] is the state of one of the two thrust controllers.
diffState – [out] contains the fraction of available drive torque to be delivered to each wheel connected to the differential.
wheelConstraintGroupState – [out] describes the groups of wheels connected by sharing a tank track.