PxVehicleTireForcesUpdate

Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireForcesUpdate(const PxVehicleWheelParams &wheelParams, const PxVehicleSuspensionParams &suspensionParams, const PxVehicleTireForceParams &tireForceParams, const PxVehicleSuspensionComplianceState &complianceState, const PxVehicleTireGripState &tireGripState, const PxVehicleTireDirectionState &tireDirectionState, const PxVehicleTireSlipState &tireSlipState, const PxVehicleTireCamberAngleState &tireCamberAngleState, const PxVehicleRigidBodyState &rigidBodyState, PxVehicleTireForce &tireForce)

Compute the longitudinal and lateral forces in the world frame that develop on the tire as a consequence of the tire’s slip angles, friction and load.

Parameters

• wheelParams – [in] describes the radius and half-width of the wheel.

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

• tireForceParams – [in] describes the conversion of slip angle, friction and load to a force along the longitudinal and lateral directions of the tire.

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

• tireGripState – [out] is the load and friction experienced by the tire.

• tireDirectionState – [in] is the tire’s longitudinal and lateral directions in the ground plane.

• tireSlipState – [in] is the longitudinal and lateral slip angles.

• tireCamberAngleState – [in] is the camber angle of the tire expressed in radians.

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

• tireForce – [out] is the computed tire forces in the world frame.