PxVehicleDifferentialState

struct PxVehicleDifferentialState

Public Functions

Public Members

PxU32 connectedWheels[PxVehicleLimits::eMAX_NB_WHEELS]: A list of wheel indices that are connected to the differential.

PxU32 nbConnectedWheels: The number of wheels that are connected to the differential.

PxReal torqueRatiosAllWheels[PxVehicleLimits::eMAX_NB_WHEELS]: The fraction of available torque that is delivered to each wheel through the differential.

Note

If a wheel is not connected to the differential then the fraction of available torque delivered to that wheel will be zero.

Note

A negative torque ratio for a wheel indicates a negative gearing is to be applied to that wheel.

Note

The sum of the absolute value of each fraction must equal 1.0.

PxReal aveWheelSpeedContributionAllWheels[PxVehicleLimits::eMAX_NB_WHEELS]: The contribution of each wheel to the average wheel rotation speed measured at the clutch.

Note

If a wheel is not connected to the differential then the contribution to the average rotation speed measured at the clutch must be zero.

Note

The sum of all contributions must equal 1.0.