PxVehicleMultiWheelDriveDifferentialParams

Defined in include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h

struct PxVehicleMultiWheelDriveDifferentialParams

PxVehicleMultiWheelDriveDifferentialParams specifies the wheels that are to receive drive torque from the differential and the division of torque between the wheels that are connected to the differential.

Subclassed by PxVehicleFourWheelDriveDifferentialParams, PxVehicleTankDriveDifferentialParams

Public Functions

inline void setToDefault()

inline PxVehicleMultiWheelDriveDifferentialParams transformAndScale(const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const

inline bool isValid(const PxVehicleAxleDescription &axleDesc) const

Public Members

PxReal torqueRatios[PxVehicleLimits::eMAX_NB_WHEELS]

torqueRatios describes the fraction of torque delivered to each wheel through the differential.

Range: [1, -1]

Note

Wheels not connected to the differential must receive zero torque.

Note

Wheels connected to the differential may receive a non-zero torque.

Note

The sum of the absolute of the ratios of all wheels must equal to 1.0.

Note

A negative torque ratio simulates a wheel with negative gearing applied.

PxReal aveWheelSpeedRatios[PxVehicleLimits::eMAX_NB_WHEELS]

aveWheelSpeedRatios describes the contribution of each wheel to the average wheel speed measured at the clutch.

Range: [0, 1]

Note

Wheels not connected to the differential do not contribute to the average wheel speed measured at the clutch.

Note

Wheels connected to the differential may delivere a non-zero contribution to the average wheel speed measured at the clutch.

Note

The sum of all ratios of all wheels must equal to 1.0.