PxVehicleSuspensionParams

Defined in include/vehicle2/suspension/PxVehicleSuspensionParams.h

struct PxVehicleSuspensionParams

Public Functions

inline PxVehicleSuspensionParams transformAndScale(

const PxVehicleFrame &srcFrame,

const PxVehicleFrame &trgFrame,

const PxVehicleScale &srcScale,

const PxVehicleScale &trgScale,

) const

inline bool isValid() const

Public Members

PxTransform suspensionAttachment

suspensionAttachment specifies the wheel pose at maximum compression.

Note

suspensionAttachment is specified in the frame of the rigid body.

Note

camber, steer and toe angles are all applied in the suspension frame.

PxVec3 suspensionTravelDir

suspensionTravelDir specifies the direction of suspension travel.

Note

suspensionTravelDir is specified in the frame of the rigid body.

PxReal suspensionTravelDist

suspensionTravelDist is the maximum distance that the suspenson can elongate along suspensionTravelDir from the pose specified by suspensionAttachment.

Note

The position suspensionAttachment.p + suspensionTravelDir*suspensionTravelDist corresponds to the the suspension at maximum droop in the rigid body frame.

PxTransform wheelAttachment

wheelAttachment is the pose of the wheel in the suspension frame.

Note

The rotation angle around the wheel’s lateral axis is applied in the wheel attachment frame.