Structure containing data describing the non-persistent state of each suspension/wheel/tire unit. This structure is filled out in PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
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#include <PxVehicleUpdate.h>
Structure containing data describing the non-persistent state of each suspension/wheel/tire unit. This structure is filled out in PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
- See also
- PxVehicleUpdates, PxVehicleUpdateSingleVehicleAndStoreTelemetryData
◆ PxWheelQueryResult()
| PxWheelQueryResult::PxWheelQueryResult |
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◆ isInAir
| bool PxWheelQueryResult::isInAir |
If suspension travel limits forbid the wheel from touching the drivable surface then isInAir is true.
- Note
- If the wheel can be placed on the contact plane of the most recent suspension line raycast/sweep then isInAir is false.
-
If PxVehicleWheelsSimFlag::eLIMIT_SUSPENSION_EXPANSION_VELOCITY is set, then isInAir will also be true if the suspension force is not large enough to expand to the target length in the given simulation time step.
-
If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then isInAir is computed using the contact plane that was hit by the most recent suspension line raycast/sweep.
◆ lateralSlip
| PxReal PxWheelQueryResult::lateralSlip |
Lateral slip of the tire.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then lateralSlip is 0.0
-
The lateral slip angle is approximately PxAtan(vx / PxAbs(vz)) where vx and vz are the components of rigid body velocity at the wheel base along the wheel's lateral and longitudinal directions, respectively.
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the tire lateral slip is computed using the contact plane that was hit by the most recent suspension line raycast or sweep.
◆ localPose
◆ longitudinalSlip
| PxReal PxWheelQueryResult::longitudinalSlip |
Longitudinal slip of the tire.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then longitudinalSlip is 0.0
-
The longitudinal slip is approximately (w*r - vz) / PxAbs(vz) where w is the angular speed of the wheel, r is the radius of the wheel, and vz component of rigid body velocity computed at the wheel base along the longitudinal direction of the tire.
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the tire longitudinal slip is computed using the contact plane that was hit by the most recent suspension line raycast or sweep.
◆ steerAngle
| PxReal PxWheelQueryResult::steerAngle |
Steer angle of the wheel about the "up" vector accounting for input steer and toe and, if applicable, Ackermann steer correction.
- See also
- PxVehicleWheelData::mToeAngle
◆ suspJounce
| PxReal PxWheelQueryResult::suspJounce |
Compression of the suspension spring.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then the jounce is -PxVehicleSuspensionData.mMaxDroop The jounce can never exceed PxVehicleSuspensionData.mMaxCompression. Positive values result when the suspension is compressed from the rest position, while negative values mean the suspension is elongated from the rest position.
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the suspension compression is computed using the contact plane that was hit by the most recent suspension line raycast or sweep.
◆ suspLineDir
| PxVec3 PxWheelQueryResult::suspLineDir |
Directions of suspension line raycast/sweep used in the raycast/sweep completed immediately before PxVehicleUpdates.
- Note
- If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then (0,0,0) is stored.
- See also
- PxVehicleSuspensionRaycasts, PxVehicleSuspensionRaycasts
◆ suspLineLength
| PxReal PxWheelQueryResult::suspLineLength |
Lengths of suspension line raycast/sweep used in raycast/sweep completed immediately before PxVehicleUpdates.
- Note
- If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then 0 is stored.
- See also
- PxVehicleSuspensionRaycasts, PxVehicleSuspensionRaycasts
◆ suspLineStart
| PxVec3 PxWheelQueryResult::suspLineStart |
Start point of suspension line raycast/sweep used in the raycast/sweep completed immediately before PxVehicleUpdates.
- Note
- If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then (0,0,0) is stored.
- See also
- PxVehicleSuspensionRaycasts, PxVehicleSuspensionRaycasts
◆ suspSpringForce
| PxReal PxWheelQueryResult::suspSpringForce |
Magnitude of force applied by the suspension spring along the direction of suspension travel.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then the force is 0
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the suspension spring force is computed using the contact plane that was hit by the most recent suspension line raycast or sweep.
- See also
- PxVehicleWheelsSimData::getSuspTravelDirection
◆ tireContactActor
| PxActor* PxWheelQueryResult::tireContactActor |
PxActor instance of the driving surface under the corresponding vehicle wheel.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then tireContactActor is NULL.
-
If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then NULL is stored.
◆ tireContactNormal
| PxVec3 PxWheelQueryResult::tireContactNormal |
Normal on the drivable surface at the hit point of the most recent suspension raycast or sweep.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then the contact normal is (0,0,0).
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then (0,0,0) is stored.
◆ tireContactPoint
| PxVec3 PxWheelQueryResult::tireContactPoint |
Point on the drivable surface hit by the most recent suspension raycast or sweep.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then the contact point is (0,0,0).
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then (0,0,0) is stored.
◆ tireContactShape
| PxShape* PxWheelQueryResult::tireContactShape |
PxShape instance of the driving surface under the corresponding vehicle wheel.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then tireContactShape is NULL.
-
If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then NULL is stored.
◆ tireFriction
| PxReal PxWheelQueryResult::tireFriction |
Friction experienced by the tire for the combination of tire type and surface type after accounting for the friction vs slip graph.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then the tire friction is 0.
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the stored tire friction is the value computed in PxVehicleUpdates that immediately followed the last raycast or sweep.
- See also
- PxVehicleDrivableSurfaceToTireFrictionPairs, PxVehicleTireData
◆ tireLateralDir
| PxVec3 PxWheelQueryResult::tireLateralDir |
Lateral direction of the wheel/tire accounting for steer/toe/camber angle projected on to the contact plan of the drivable surface.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then tireLateralDir is (0,0,0)
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the tire lateral direction is computed using the contact plane that was hit by the most recent suspension line raycast or sweep.
◆ tireLongitudinalDir
| PxVec3 PxWheelQueryResult::tireLongitudinalDir |
Forward direction of the wheel/tire accounting for steer/toe/camber angle projected on to the contact plane of the drivable surface.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then tireLongitudinalDir is (0,0,0)
-
If no raycast or sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then the tire longitudinal direction is computed using the contact plane that was hit by the most recent suspension line raycast or sweep.
◆ tireSurfaceMaterial
| const PxMaterial* PxWheelQueryResult::tireSurfaceMaterial |
PxMaterial instance of the driving surface under the corresponding vehicle wheel.
- Note
- If suspension travel limits forbid the wheel from touching the drivable surface then tireSurfaceMaterial is NULL.
-
If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then NULL is stored.
◆ tireSurfaceType
| PxU32 PxWheelQueryResult::tireSurfaceType |
The documentation for this struct was generated from the following file:
