PxVehicleRigidBodyUpdate

Defined in include/vehicle2/rigidBody/PxVehicleRigidBodyFunctions.h

void PxVehicleRigidBodyUpdate(const PxVehicleAxleDescription &axleDescription, const PxVehicleRigidBodyParams &rigidBodyParams, const PxVehicleArrayData<const PxVehicleSuspensionForce> &suspensionForces, const PxVehicleArrayData<const PxVehicleTireForce> &tireForces, const PxVehicleAntiRollTorque *antiRollTorque, const PxReal dt, const PxVec3 &gravity, PxVehicleRigidBodyState &rigidBodyState)

Forward integrate rigid body state.

Note

The suspensionForces array must contain an entry for each wheel listed as an active wheel in axleDescription.

Note

The tireForces array must contain an entry for each wheel listed as an active wheel in axleDescription.

Note

If antiRollTorque is a null pointer then zero anti-roll torque will be applied to the rigid body.

Parameters

  • axleDescription – [in] is a description of the axles of the vehicle and the wheels on each axle.

  • rigidBodyParams – [in] is a description of rigid body mass and moment of inertia.

  • suspensionForces – [in] is an array of suspension forces and torques in the world frame to be applied to the rigid body.

  • tireForces – [in] is an array of tire forces and torques in the world frame to be applied to the rigid body.

  • antiRollTorque – [in] is an optional pointer to a single PxVehicleAntiRollTorque instance that contains the accumulated anti-roll torque to apply to the rigid body.

  • dt – [in] is the timestep of the forward integration.

  • gravity – [in] is gravitational acceleration.

  • rigidBodyState – [inout] is the rigid body state that is to be updated.