PxVehicleComputeSuspensionRaycast

Defined in include/vehicle2/suspension/PxVehicleSuspensionHelpers.h

inline void PxVehicleComputeSuspensionRaycast(

const PxVehicleFrame &frame,

const PxVehicleWheelParams &wheelParams,

const PxVehicleSuspensionParams &suspensionParams,

const PxF32 steerAngle,

const PxTransform &rigidBodyPose,

PxVec3 &start,

PxVec3 &dir,

PxReal &dist,

)

Compute the start point, direction and length of a suspension scene raycast.

Note

start, dir and dist together describe a raycast that begins at the top of wheel at maximum compression and ends at the bottom of wheel at maximum droop.

Parameters:

• frame – [in] is a description of the longitudinal, lateral and vertical axes.

• wheelParams – [in] describes the radius and halfwidth of the wheel.

• suspensionParams – [in] describes the suspension frame and the maximum suspension travel.

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

• rigidBodyPose – [in] is the pose of the rigid body in the world frame.

• start – [out] is the starting point of the raycast in the world frame.

• dir – [out] is the direction of the raycast in the world frame.

• dist – [out] is the length of the raycast.