PxVehicleTankDriveDifferentialParams

Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h

struct PxVehicleTankDriveDifferentialParams : public PxVehicleMultiWheelDriveDifferentialParams 

A description of a tank differential.

Note

The wheels on a tank may be connected to the differential or not connected to the differential.

Note

The wheels on a tank track may be connected to a tank track or not connected to a tank track.

Note

Wheels connected to the differential but not to a tank track receive the torque split specified by the corresponding elements of PxVehicleMultiWheelDriveDifferentialParams::torqueRatios[].

Note

Wheels connected to a tank track but not to the differential receive no torque from the engine.

Note

Wheels connected to a tank track and to the differential receive the torque split specified by the corresponding elements of PxVehicleMultiWheelDriveDifferentialParams::torqueRatios[] multiplied by the corresponding thrust controller value. If the thrust controller has a negative value, the wheels will receive a torque that is negative with respect to the gearing ratio.

Note

The wheels in each tank track have a constraint applied to them to enforce the rule that they all have the same longitudinal speed at the contact point between the wheel and the tank track.

Public Functions

inline void setToDefault()

inline void addTankTrack(const PxU32 nbWheelsInTrackToAdd, const PxU32 *const wheelIdsInTrackToAdd, const PxU32 thrustControllerIndex)

Add a tank track by specifying the number of wheels along the track and an array of wheel ids specifying each wheel in the tank track.

Parameters

nbWheelsInTrackToAdd – [in] is the number of wheels in the track to be added.
wheelIdsInTrackToAdd – [in] is an array of wheel ids specifying all the wheels in the track to be added.
thrustControllerIndex – [in] specifies the index of the thrust controller that will be used to control the tank track.

inline PxU32 getNbTracks() const

Return the number of tracks.