PxVehicleSuspensionForceUpdate

Defined in include/vehicle2/suspension/PxVehicleSuspensionFunctions.h

void PxVehicleSuspensionForceUpdate(const PxVehicleSuspensionParams &suspensionParams, const PxVehicleSuspensionForceParams &suspensionForceParams, const PxVehicleRoadGeometryState &roadGeometryState, const PxVehicleSuspensionState &suspensionState, const PxVehicleSuspensionComplianceState &complianceState, const PxVehicleRigidBodyState &rigidBodyState, const PxVec3 &gravity, const PxReal vehicleMass, PxVehicleSuspensionForce &suspensionForce)

Compute the suspension force and torque arising from suspension compression and speed.

Parameters

• suspensionParams – [in] is a description of the suspension and wheel frames.

• suspensionForceParams – [in] describes the conversion of suspension state to suspension force.

• roadGeometryState – [in] describes the plane under the wheel of the suspension.

• suspensionState – [in] is the current compression state of the suspension.

• complianceState – [in] is the current compliance state of the suspension.

• rigidBodyState – [in] describes the current pose of the rigid body.

• gravity – [in] is the gravitational acceleration.

• vehicleMass – [in] is the rigid body mass.

• suspensionForce – [out] is the force and torque to apply to the rigid body arising from the suspension state.