PxVehicleComputeWheelOrientation

Defined in include/vehicle2/wheel/PxVehicleWheelHelpers.h

inline PxQuat PxVehicleComputeWheelOrientation(const PxVehicleFrame &frame, const PxVehicleSuspensionParams &suspensionParams, const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle, const PxQuat &rigidBodyOrientation, const PxReal rotationAngle)

Compute the quaternion of a wheel in the world frame.

See also

PxVehicleComputeWheelLocalOrientation

Parameters

• frame – [in] describes the longitudinal and lateral axes of the vehicle.

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

• camberAngle – [in] is the camber angle in radian induced by suspension compliance.

• toeAngle – [in] is the toe angle in radians induced by suspension compliance.

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

• rigidBodyOrientation – [in] is the quaterion of the rigid body in the world frame.

• rotationAngle – [in] is the angle around the wheel’s lateral axis.

Returns

The quaterion of the wheel in the world frame.