PxVehicleSuspensionStateUpdate

Defined in include/vehicle2/suspension/PxVehicleSuspensionFunctions.h

void PxVehicleSuspensionStateUpdate(

const PxVehicleWheelParams &wheelParams,

const PxVehicleSuspensionParams &suspensionParams,

const PxVehicleSuspensionStateCalculationParams &suspensionStateCalcParams,

const PxReal suspensionStiffness,

const PxReal suspensionDamping,

const PxReal steerAngle,

const PxVehicleRoadGeometryState &roadGeometryState,

const PxVehicleRigidBodyState &rigidBodyState,

const PxReal dt,

const PxVehicleFrame &frame,

const PxVec3 &gravity,

PxVehicleSuspensionState &suspState,

)

Compute the suspension compression and compression speed for a single suspension.

Parameters:

• wheelParams – [in] is a description of the radius and half-width of the wheel on the suspension.

• suspensionParams – [in] is a description of the suspension and wheel frames.

• suspensionStateCalcParams – [in] specifies whether to compute the suspension compression by either raycasting or sweeping against the plane of the road geometry under the wheel.

• suspensionStiffness – [in] is the stiffness of the suspension

• suspensionDamping – [in] is the damping rate of the suspension. or whether to apply a limit to the expansion speed so that the wheel may not reach the ground.

• steerAngle – [in] is the yaw angle (in radians) of the wheel.

• roadGeometryState – [in] describes the plane under the wheel.

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

• dt – [in] is the simulation time that has lapsed since the last call to PxVehicleSuspensionStateUpdate

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

• gravity – [in] is the gravitational acceleration that acts on the suspension sprung mass.

• suspState – [inout] is the compression (jounce) and compression speed of the suspension.