PxVehicleFourWheelDriveDifferentialParams specifies the wheels that are to receive drive torque from the differential and the division of torque between the wheels that are connected to the differential. Additionally, it specifies the biases and strength of a limited slip differential that operates on two wheels specified as front wheels and two wheels specified as rear wheels.
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#include <PxVehicleDrivetrainParams.h>
Public Member Functions | |
| PX_FORCE_INLINE void | setToDefault () |
| PX_FORCE_INLINE bool | isValid (const PxVehicleAxleDescription &axleDesc) const |
| PX_FORCE_INLINE PxVehicleFourWheelDriveDifferentialParams | transformAndScale (const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const |
 Public Member Functions inherited from physx::vehicle2::PxVehicleMultiWheelDriveDifferentialParams | |
| PX_FORCE_INLINE void | setToDefault () |
| PX_FORCE_INLINE PxVehicleMultiWheelDriveDifferentialParams | transformAndScale (const PxVehicleFrame &srcFrame, const PxVehicleFrame &trgFrame, const PxVehicleScale &srcScale, const PxVehicleScale &trgScale) const |
| PX_FORCE_INLINE bool | isValid (const PxVehicleAxleDescription &axleDesc) const |
Public Attributes | |
| PxU32 | frontWheelIds [2] |
| The ids of the two wheels considered by the differential to be the front pair. | |
| PxU32 | rearWheelIds [2] |
| The ids of the two wheels considered by the differential to be the rear pair. | |
| PxReal | frontBias |
| The parameter frontBias specifies the maximum angular speed ratio of the two front wheels specified by frontWheelIds[2]. | |
| PxReal | frontTarget |
| The parameter frontTarget specifies the target rotational speed ratio of the two front wheels in the event that the ratio exceeds frontBias and frontBias is configured for an activated limited slip or locked axle. | |
| PxReal | rearBias |
| The parameter rearBias specifies the maximum angular speed ratio of the two rear wheels specified by rearWheelIds[2]. | |
| PxReal | rearTarget |
| The parameter rearTarget specifies the target rotational speed ratio of the two rear wheels in the event that the ratio exceeds rearBias and rearBias is configured for an activated limited slip or locked axle. | |
| PxReal | centerBias |
| The parameter centerBias specifies the maximum angular speed ratio of the sum of the two front wheels and the sum of the two rear wheels, as specified by frontWheelIds[2] and rearWheelIds[2]. | |
| PxReal | centerTarget |
| The parameter centerTarget specifies the target rotational speed ratio of the sum of the two front wheels and the sum of the two rear wheels in the event that the ratio exceeds centerBias and centerBias is configured for an activated limited slip. | |
| PxReal | rate |
| The parameter rate specifies how quickly the ratio of rotational speeds approaches the target rotational speed ratio. | |
| Public Attributes inherited from physx::vehicle2::PxVehicleMultiWheelDriveDifferentialParams | |
| PxReal | torqueRatios [PxVehicleLimits::eMAX_NB_WHEELS] |
| torqueRatios describes the fraction of torque delivered to each wheel through the differential. | |
| PxReal | aveWheelSpeedRatios [PxVehicleLimits::eMAX_NB_WHEELS] |
| aveWheelSpeedRatios describes the contribution of each wheel to the average wheel speed measured at the clutch. | |
Detailed Description
PxVehicleFourWheelDriveDifferentialParams specifies the wheels that are to receive drive torque from the differential and the division of torque between the wheels that are connected to the differential. Additionally, it specifies the biases and strength of a limited slip differential that operates on two wheels specified as front wheels and two wheels specified as rear wheels.
Member Data Documentation
◆ centerBias
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::centerBias |
The parameter centerBias specifies the maximum angular speed ratio of the sum of the two front wheels and the sum of the two rear wheels, as specified by frontWheelIds[2] and rearWheelIds[2].
- Note
- If centerBias has value 0.0, the differential will not try to enforce any relationship between the rotational speeds of the front and rear wheels.
- If centerBias has value 0.0, the torque split between the front and rear rear wheels is specified by the array torqueRatios.
- centerBias must have value 0.0 (deactivated limited slip) or be greater than 1.0 (activated limited slip) or be equal to 1.0 (locked).
- If centerBias has value greater than or equal to 1.0 then the arrays frontWheelIds and rearWheelIds must be specified and the corresponding entries of the isConnected[] array must be set true.
-
If centerBias has value greater than or equal to 1.0 then centerTarget must also be specified.
- A locked front/rear differential may be achieved by setting centerBias and centerTarget to 1.0.
- A limited slip differential may be achieved by setting centerBias > 1.0 and centerBias > centerTarget > 1.0
◆ centerTarget
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::centerTarget |
The parameter centerTarget specifies the target rotational speed ratio of the sum of the two front wheels and the sum of the two rear wheels in the event that the ratio exceeds centerBias and centerBias is configured for an activated limited slip.
- Note
- centerTarget must be less than centerBias and greater than 1.0 to implement a limited slip differential.
- Set centerTarget and centerBias to 1.0 to implement a locked differential.
◆ frontBias
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::frontBias |
The parameter frontBias specifies the maximum angular speed ratio of the two front wheels specified by frontWheelIds[2].
- Note
- If frontBias has value 0.0, the differential will not try to enforce any relationship between the rotational speeds of the two front wheels.
- If frontBias has value 0.0, the torque split between the front wheels is specified by the array torqueRatios.
- frontBias must have value 0.0 (deactivated limited slip) or be greater than 1.0 (activated limited slip) or be equal to 1.0 (locked axle).
- If frontBias has value greater than or equal to 1.0 then the array frontWheelIds must be specified and the corresponding entries of the isConnected[] array must be set true.
- If frontBias has value greater than or equal to 1.0 then frontTarget must also be specified.
- A locked axle may be achieved by setting frontBias and frontTarget to 1.0.
- A limited slip differential may be achieved by setting frontBias > 1.0 and frontBias > frontTarget > 1.0.
◆ frontTarget
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::frontTarget |
The parameter frontTarget specifies the target rotational speed ratio of the two front wheels in the event that the ratio exceeds frontBias and frontBias is configured for an activated limited slip or locked axle.
- Note
- frontTarget must be less than frontBias and greater than 1.0 to implement a limited slip differential.
- Set frontTarget and frontBias to 1.0 to implement a locked axle.
◆ frontWheelIds
| PxU32 physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::frontWheelIds[2] |
The ids of the two wheels considered by the differential to be the front pair.
- Note
- When the ratio of the rotational speeds of the front wheels exceeds frontBias, drive torque is diverted so that the ratio approaches the value specified by frontTarget. When the bias is not breached, the drive torque is specified by the corresponding entries in PxVehicleMultiWheelDriveDifferentialParams::torqueRatios.
◆ rate
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::rate |
The parameter rate specifies how quickly the ratio of rotational speeds approaches the target rotational speed ratio.
- Note
- strength must be in range [0,PX_VEHICLE_FOUR_WHEEL_DIFF_MAXIMUM_STRENGTH].
- The ratio of rotational speeds is decremented each update by rate*dt until the ratio is equal to the target ratio.
- A value of 0 will result in a deactivated limited slip.
- A value of PX_VEHICLE_FOUR_WHEEL_DIFF_MAXIMUM_STRENGTH will result in instantaneous correction of the rotational speed ratios.
◆ rearBias
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::rearBias |
The parameter rearBias specifies the maximum angular speed ratio of the two rear wheels specified by rearWheelIds[2].
- Note
- If rearBias has value 0.0, the differential will not try to enforce any relationship between the rotational speeds of the two rear wheels.
- If rearBias has value 0.0, the torque split between the rear wheels is specified by the array torqueRatios.
- rearBias must have value 0.0 (deactivated limited slip) or be greater than 1.0 (activated limited slip) or be equal to 1.0 (locked axle).
- If rearBias has value greater than or equal to 1.0 then the array rearWheelIds must be specified and the corresponding entries of the isConnected[] array must be set true.
-
If rearBias has value greater than or equal to 1.0 then rearTarget must also be specified.
- A locked axle may be achieved by setting rearBias and rearTarget to 1.0.
- A limited slip differential may be achieved by setting rearBias > 1.0 and rearBias > rearTarget > 1.0
◆ rearTarget
| PxReal physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::rearTarget |
The parameter rearTarget specifies the target rotational speed ratio of the two rear wheels in the event that the ratio exceeds rearBias and rearBias is configured for an activated limited slip or locked axle.
- Note
- rearTarget must be less than rearBias and greater than 1.0 to implement a limited slip differential.
- Set rearTarget and rearBias to 1.0 to implement a locked axle.
◆ rearWheelIds
| PxU32 physx::vehicle2::PxVehicleFourWheelDriveDifferentialParams::rearWheelIds[2] |
The ids of the two wheels considered by the differential to be the rear pair.
- Note
- When the ratio of the rotational speeds of the rear wheels exceeds rearBias, drive torque is diverted so that the ratio approaches the value specified by rearTarget. When the bias is not breached, the drive torque is specified by the corresponding entries in PxVehicleMultiWheelDriveDifferentialParams::torqueRatios.
The documentation for this struct was generated from the following file:
- RavEngine/deps/physx/physx/include/vehicle2/drivetrain/PxVehicleDrivetrainParams.h
