PxVehicleTireDirsUpdate

Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireDirsUpdate(const PxVehicleSuspensionParams &suspensionParams, const PxReal steerAngle, const PxVec3 &groundNormal, bool isWheelOnGround, const PxVehicleSuspensionComplianceState &complianceState, const PxVehicleRigidBodyState &rigidBodyState, const PxVehicleFrame &frame, PxVehicleTireDirectionState &tireDirectionState)

Compute the longitudinal and lateral tire directions in the ground plane.

Note

The difference between PxVehicleTireDirsUpdate and PxVehicleTireDirsLegacyUpdate is that PxVehicleTireDirsUpdate accounts for suspension compliance while PxVehicleTireDirsLegacyUpdate does not.

Parameters

• suspensionParams – [in] describes the frame of the suspension and wheel.

• steerAngle – [in] is the steer angle in radians to be applied to the wheel.

• groundNormal – [in] describes the plane normal of the road geometry under the wheel.

• isWheelOnGround – [in] defines whether the wheel touches the road geometry.

• complianceState – [in] is a description of the camber and toe angle that arise from suspension compliance.

• rigidBodyState – [in] describes the current pose of the vehicle’s rigid body in the world frame.

• frame – [in] is a description of the vehicle’s lateral and longitudinal axes.

• tireDirectionState – [out] is the computed tire longitudinal and lateral directions in the world frame.