PxVehiclePhysXConstraintStatesUpdate

Defined in include/vehicle2/physxConstraints/PxVehiclePhysXConstraintFunctions.h

void PxVehiclePhysXConstraintStatesUpdate(

const PxVehicleSuspensionParams &suspensionParams,

const PxVehiclePhysXSuspensionLimitConstraintParams &suspensionLimitParams,

const PxVehicleSuspensionState &suspensionState,

const PxVehicleSuspensionComplianceState &suspensionComplianceState,

const PxVec3 &groundPlaneNormal,

const PxReal tireStickyDampingLong,

const PxReal tireStickyDampingLat,

const PxVehicleTireDirectionState &tireDirectionState,

const PxVehicleTireStickyState &tireStickyState,

const PxVehicleRigidBodyState &rigidBodyState,

PxVehiclePhysXConstraintState &constraintState,

)

Read constraint data from the vehicle’s internal state for a single wheel and write it to a structure that will be read by the associated PxScene and used to impose the constraints during the next PxScene::simulate() step.

Note

Constraints include suspension constraints to account for suspension travel limit and sticky tire constraints that bring the vehicle to rest at low longitudinal and lateral speed.

Parameters:

• suspensionParams – [in] describes the suspension frame.

• suspensionLimitParams – [in] describes the restitution value applied to any constraint triggered by the suspension travel limit.

• suspensionState – [in] describes the excess suspension compression beyond the suspension travel limit that will be resolved with a constraint.

• suspensionComplianceState – [in] describes the effect of suspension compliance on the effective application point of the suspension force.

• groundPlaneNormal – [in] The normal direction of the ground plane the wheel is driving on. A normalized vector is expected.

• tireStickyDampingLong – [in] The damping coefficient to use in the constraint to approach a zero target velocity along the longitudinal tire axis.

• tireStickyDampingLat – [in] Same concept as tireStickyDampingLong but for the lateral tire axis.

• tireDirectionState – [in] describes the longitudinal and lateral directions of the tire in the world frame.

• tireStickyState – [in] describes the low speed state of the tire in the longitudinal and lateral directions.

• rigidBodyState – [in] describes the pose of the rigid body.

• constraintState – [out] is the data structure that will be read by the associated PxScene in the next call to PxScene::simulate().