PxVehicleTireSlipsLegacyUpdate

Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireSlipsLegacyUpdate(const PxVehicleWheelParams &wheelParams, const PxVehicleTireSlipParams &tireSlipParams, const PxVehicleWheelActuationState &actuationState, PxVehicleTireSpeedState &tireSpeedState, const PxVehicleWheelRigidBody1dState &wheelRigidBody1dState, PxVehicleTireSlipState &tireSlipState)

Compute a tire’s longitudinal and lateral slip angles.

Deprecated:

This API was introduced with the new Vehicle API for transition purposes but will be removed in a future version.

Note

Longitudinal slip angle has the following theoretical form: (wheelRotationSpeed*wheelRadius - longitudinalSpeed)/|longitudinalSpeed|

Note

Lateral slip angle has the following theoretical form: atan(lateralSpeed/|longitudinalSpeed|)

Note

The calculation of both longitudinal and lateral slip angles avoid a zero denominator using minimum values for the denominator set in tireSlipParams.

Parameters

  • wheelParams – [in] describes the radius of the wheel.

  • tireSlipParams – [in] describes how to manage small longitudinal speeds by setting minimum values on the denominator of the quotients used to calculate lateral and longitudinal slip.

  • actuationState – [in] describes whether a wheel is to be driven by a drive torque or not.

  • tireSpeedState – [in] is the component of rigid body velocity at the tire contact point projected along the tire’s longitudinal and lateral axes.

  • wheelRigidBody1dState – [in] is the wheel rotation speed.

  • tireSlipState – [out] is the computed tire longitudinal and lateral slips.