PxVehicleTireSlipParams

Defined in include/vehicle2/PxVehicleParams.h

struct PxVehicleTireSlipParams

Tire slip values are computed using ratios with potential for divide-by-zero errors.

PxVehicleTireSlipParams introduces a minimum value for the denominator of each of these ratios.

Public Functions

inline void setToDefault()

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

inline bool isValid() const

Public Members

PxReal minLatSlipDenominator

The lateral slip angle is typically computed as a function of the ratio of lateral and longitudinal speeds of the rigid body in the tire’s frame.

This leads to a divide-by-zero in the event that the longitudinal speed approaches zero. The parameter minLatSlipDenominator sets a minimum denominator for the ratio of speeds used to compute the lateral slip angle. Range: (0, inf)Unit: velocity = length / time

Note

Larger timesteps typically require larger values of minLatSlipDenominator.

PxReal minPassiveLongSlipDenominator

The longitudinal slip represents the difference between the longitudinal speed of the rigid body in the tire’s frame and the linear speed arising from the rotation of the wheel.

This is typically normalized using the reciprocal of the longitudinal speed of the rigid body in the tire’s frame. This leads to a divide-by-zero in the event that the longitudinal speed approaches zero. The parameter minPassiveLongSlipDenominator sets a minimum denominator for the normalized longitudinal slip when the wheel experiences zero drive torque and zero brake torque and zero handbrake torque. The aim is to bring the vehicle to rest without experiencing wheel rotational speeds that oscillate around zero. Range: (0, inf)Unit: velocity = length / time

Note

The vehicle will come to rest more smoothly with larger values of minPassiveLongSlipDenominator, particularly with large timesteps that often lead to oscillation in wheel rotation speeds when the wheel rotation speed approaches zero.

Note

It is recommended that minActiveLongSlipDenominator < minPassiveLongSlipDenominator.

PxReal minActiveLongSlipDenominator

The longitudinal slip represents the difference between the longitudinal speed of the rigid body in the tire’s frame and the linear speed arising from the rotation of the wheel.

This is typically normalized using the reciprocal of the longitudinal speed of the rigid body in the tire’s frame. This leads to a divide-by-zero in the event that the longitudinal speed approaches zero. The parameter minActiveLongSlipDenominator sets a minimum denominator for the normalized longitudinal slip when the wheel experiences either a non-zero drive torque or a non-zero brake torque or a non-zero handbrake torque. Range: (0, inf)Unit: velocity = length / time

Note

Larger timesteps typically require larger values of minActiveLongSlipDenominator to avoid instabilities occurring when the vehicle is aggressively throttled from rest.

Note

It is recommended that minActiveLongSlipDenominator < minPassiveLongSlipDenominator.