PxVehicleTireSlipSpeedsUpdate

Defined in include/vehicle2/tire/PxVehicleTireFunctions.h

void PxVehicleTireSlipSpeedsUpdate(

const PxVehicleWheelParams &wheelParams,

const PxVehicleSuspensionParams &suspensionParams,

const PxF32 steerAngle,

const PxVehicleSuspensionState &suspensionStates,

const PxVehicleTireDirectionState &tireDirectionState,

const PxVehicleRigidBodyState &rigidBodyState,

const PxVehicleRoadGeometryState &roadGeometryState,

const PxVehicleFrame &frame,

PxVehicleTireSpeedState &tireSpeedState,

)

Project the rigid body velocity at the tire contact point along the tire longitudinal directions.

See also

PxVehicleTireDirsUpdate

See also

PxVehicleTireDirsLegacyUpdate

Parameters:

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

• suspensionParams – [in] describes the frame of the suspension and wheel.

• steerAngle – [in] is the steer angle in radians to be applied to the wheel.

• suspensionStates – [in] is the current suspension compression state.

• tireDirectionState – [in] is the tire’s longitudinal and lateral directions in the ground plane.

• rigidBodyState – [in] describes the current pose and velocity of the vehicle’s rigid body in the world frame.

• roadGeometryState – [in] describes the current velocity of the road geometry under each wheel.

• frame – [in] is a description of the vehicle’s lateral and longitudinal axes.

• tireSpeedState – [out] is the components of rigid body velocity at the tire contact point along the tire’s longitudinal and lateral axes.