PxWheelQueryResult Struct Reference
[Vehicle]

Structure containing data describing the non-persistent state of each suspension/wheel/tire unit. This structure is filled out in PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData. More...

#include <PxVehicleUpdate.h>

Collaboration diagram for PxWheelQueryResult:

[legend]

List of all members.

Public Member Functions
	PxWheelQueryResult ()
Public Attributes
PxVec3	suspLineStart
	Start point of suspension line raycast/sweep used in the raycast/sweep completed immediately before PxVehicleUpdates.
PxVec3	suspLineDir
	Directions of suspension line raycast/sweep used in the raycast/sweep completed immediately before PxVehicleUpdates.
PxReal	suspLineLength
	Lengths of suspension line raycast/sweep used in raycast/sweep completed immediately before PxVehicleUpdates.
bool	isInAir
	If suspension travel limits forbid the wheel from touching the drivable surface then isInAir is true.
PxActor *	tireContactActor
	PxActor instance of the driving surface under the corresponding vehicle wheel.
PxShape *	tireContactShape
	PxShape instance of the driving surface under the corresponding vehicle wheel.
const PxMaterial *	tireSurfaceMaterial
	PxMaterial instance of the driving surface under the corresponding vehicle wheel.
PxU32	tireSurfaceType
	Surface type integer that corresponds to the mapping between tireSurfaceMaterial and integer as described in PxVehicleDrivableSurfaceToTireFrictionPairs.
PxVec3	tireContactPoint
	Point on the drivable surface hit by the most recent suspension raycast or sweep.
PxVec3	tireContactNormal
	Normal on the drivable surface at the hit point of the most recent suspension raycast or sweep.
PxReal	tireFriction
	Friction experienced by the tire for the combination of tire type and surface type after accounting for the friction vs slip graph.
PxReal	suspJounce
	Compression of the suspension spring.
PxReal	suspSpringForce
	Magnitude of force applied by the suspension spring along the direction of suspension travel.
PxVec3	tireLongitudinalDir
	Forward direction of the wheel/tire accounting for steer/toe/camber angle projected on to the contact plane of the drivable surface.
PxVec3	tireLateralDir
	Lateral direction of the wheel/tire accounting for steer/toe/camber angle projected on to the contact plan of the drivable surface.
PxReal	longitudinalSlip
	Longitudinal slip of the tire.
PxReal	lateralSlip
	Lateral slip of the tire.
PxReal	steerAngle
	Steer angle of the wheel about the "up" vector accounting for input steer and toe and, if applicable, Ackermann steer correction.
PxTransform	localPose
	Local pose of the wheel.

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Detailed Description

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

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Constructor & Destructor Documentation

PxWheelQueryResult::PxWheelQueryResult

(

)

[inline]

References PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN, PxIdentity, and PxMemZero().

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Member Data Documentation

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 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.

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.

PxTransform PxWheelQueryResult::localPose

Local pose of the wheel.

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.

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

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.

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

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

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

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

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.

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.

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.

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.

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

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.

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.

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.

PxU32 PxWheelQueryResult::tireSurfaceType

Surface type integer that corresponds to the mapping between tireSurfaceMaterial and integer as described in PxVehicleDrivableSurfaceToTireFrictionPairs.

Note:

If suspension travel limits forbid the wheel from touching the drivable surface then tireSurfaceType is PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN.

If no raycast/sweep for the corresponding suspension was performed immediately prior to PxVehicleUpdates then PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN is stored.

See also:

PxVehicleDrivableSurfaceToTireFrictionPairs

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The documentation for this struct was generated from the following file:

• PxVehicleUpdate.h