PxVehicleComputeWheelLocalPose

Defined in include/vehicle2/wheel/PxVehicleWheelHelpers.h

inline PxTransform PxVehicleComputeWheelLocalPose(const PxVehicleFrame &frame, const PxVehicleSuspensionParams &suspensionParams, const PxVehicleSuspensionState &suspensionState, const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle, const PxReal rotationAngle)

Compute the pose of the wheel in the rigid body frame.

Parameters

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

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

  • suspensionState – [in] is the compression state of the suspenson.

  • 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.

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

Returns

The pose of the wheel in the rigid body frame.