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<html>
<head>
<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxVehicleSuspensionData Class Reference</title>
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<h1>PxVehicleSuspensionData Class Reference<br>
<small>
[<a class="el" href="group__vehicle.html">Vehicle</a>]</small>
</h1><!-- doxytag: class="PxVehicleSuspensionData" --><code>#include <<a class="el" href="PxVehicleComponents_8h-source.html">PxVehicleComponents.h</a>></code>
<p>
<p>
<a href="classPxVehicleSuspensionData-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#8edf19ece4a7b7c32af4aa823e98c434">PxVehicleSuspensionData</a> ()</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_FORCE_INLINE PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#062437fd240388ec7affa0d73453d593">getRecipMaxCompression</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reciprocal of maximum compression. <a href="#062437fd240388ec7affa0d73453d593"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_FORCE_INLINE PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#35662179eb1bf193ca23f9da5bd5f253">getRecipMaxDroop</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reciprocal of maximum droop. <a href="#35662179eb1bf193ca23f9da5bd5f253"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#2bec1ac8b8808407d0af0accfcc21e57">setMassAndPreserveNaturalFrequency</a> (const PxReal newSprungMass)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set a new sprung mass for the suspension and modify the spring strength so that the natural frequency of the spring is preserved. <a href="#2bec1ac8b8808407d0af0accfcc21e57"></a><br></td></tr>
<tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#d6c229a583ec71fa2f3192de790528a7">mSpringStrength</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Spring strength of suspension unit. <a href="#d6c229a583ec71fa2f3192de790528a7"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#bd5b02e608d8d8e06ec7932ccbe514de">mSpringDamperRate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Spring damper rate of suspension unit. <a href="#bd5b02e608d8d8e06ec7932ccbe514de"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#41931d05cc3610c523139d4f975cced6">mMaxCompression</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum compression allowed by suspension spring. <a href="#41931d05cc3610c523139d4f975cced6"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#20d5e1ae07792ecf7f0180c3456dd5ce">mMaxDroop</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum elongation allowed by suspension spring. <a href="#20d5e1ae07792ecf7f0180c3456dd5ce"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#23f96767e47ea394bbb10ee597f2d9d3">mSprungMass</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Mass of vehicle that is supported by suspension spring. <a href="#23f96767e47ea394bbb10ee597f2d9d3"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#009eee43a101ae543e3b1fc551792653">mCamberAtRest</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Camber angle (in radians) of wheel when the suspension is at its rest position. <a href="#009eee43a101ae543e3b1fc551792653"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#fbfa04e080c4318d167019151cd9fc23">mCamberAtMaxCompression</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Camber angle (in radians) of wheel when the suspension is at maximum compression. <a href="#fbfa04e080c4318d167019151cd9fc23"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#057401ec58e0e0515b70e1d23c840cb7">mCamberAtMaxDroop</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Camber angle (in radians) of wheel when the suspension is at maximum droop. <a href="#057401ec58e0e0515b70e1d23c840cb7"></a><br></td></tr>
<tr><td colspan="2"><br><h2>Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#895f3ea43f3b73ebb51c00752028a76a">isValid</a> () const </td></tr>
<tr><td colspan="2"><br><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#05c9ff8df5782ffefdb90595b20efbbf">mRecipMaxCompression</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cached value of 1.0f/mMaxCompression. <a href="#05c9ff8df5782ffefdb90595b20efbbf"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#ca07e38db13471eb6d3b54cb421aacfc">mRecipMaxDroop</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cached value of 1.0f/mMaxDroop. <a href="#ca07e38db13471eb6d3b54cb421aacfc"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#a84939cb947f9b7d600564a64982975d">mPad</a> [2]</td></tr>
<tr><td colspan="2"><br><h2>Friends</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxVehicleSuspensionData.html#4c2a2bf5a268389976a6f3c6ffeb1806">PxVehicleWheels4SimData</a></td></tr>
</table>
<hr><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" name="8edf19ece4a7b7c32af4aa823e98c434"></a><!-- doxytag: member="PxVehicleSuspensionData::PxVehicleSuspensionData" ref="8edf19ece4a7b7c32af4aa823e98c434" args="()" -->
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<td class="memname">PxVehicleSuspensionData::PxVehicleSuspensionData </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td><code> [inline]</code></td>
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</table>
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<div class="memdoc">
<p>
</div>
</div><p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="062437fd240388ec7affa0d73453d593"></a><!-- doxytag: member="PxVehicleSuspensionData::getRecipMaxCompression" ref="062437fd240388ec7affa0d73453d593" args="() const " -->
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<td class="memname">PX_FORCE_INLINE PxReal PxVehicleSuspensionData::getRecipMaxCompression </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [inline]</code></td>
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<p>
Reciprocal of maximum compression.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>Not necessary to set this value because it is set by <a class="el" href="classPxVehicleWheelsSimData.html#2d919fecb713d371d2624e3b5b37053b" title="Set the suspension data of the idth wheel.">PxVehicleWheelsSimData::setSuspensionData</a></dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
</div>
</div><p>
<a class="anchor" name="35662179eb1bf193ca23f9da5bd5f253"></a><!-- doxytag: member="PxVehicleSuspensionData::getRecipMaxDroop" ref="35662179eb1bf193ca23f9da5bd5f253" args="() const " -->
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<td class="memname">PX_FORCE_INLINE PxReal PxVehicleSuspensionData::getRecipMaxDroop </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [inline]</code></td>
</tr>
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<p>
Reciprocal of maximum droop.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>Not necessary to set this value because it is set by <a class="el" href="classPxVehicleWheelsSimData.html#2d919fecb713d371d2624e3b5b37053b" title="Set the suspension data of the idth wheel.">PxVehicleWheelsSimData::setSuspensionData</a></dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
</div>
</div><p>
<a class="anchor" name="895f3ea43f3b73ebb51c00752028a76a"></a><!-- doxytag: member="PxVehicleSuspensionData::isValid" ref="895f3ea43f3b73ebb51c00752028a76a" args="() const " -->
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<td class="memname">bool PxVehicleSuspensionData::isValid </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [private]</code></td>
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<p>
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<a class="anchor" name="2bec1ac8b8808407d0af0accfcc21e57"></a><!-- doxytag: member="PxVehicleSuspensionData::setMassAndPreserveNaturalFrequency" ref="2bec1ac8b8808407d0af0accfcc21e57" args="(const PxReal newSprungMass)" -->
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<td class="memname">void PxVehicleSuspensionData::setMassAndPreserveNaturalFrequency </td>
<td>(</td>
<td class="paramtype">const PxReal </td>
<td class="paramname"> <em>newSprungMass</em> </td>
<td> ) </td>
<td><code> [inline]</code></td>
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<p>
Set a new sprung mass for the suspension and modify the spring strength so that the natural frequency of the spring is preserved.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>newSprungMass</em> </td><td>is the new mass that the suspension spring will support. </td></tr>
</table>
</dl>
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<hr><h2>Friends And Related Function Documentation</h2>
<a class="anchor" name="4c2a2bf5a268389976a6f3c6ffeb1806"></a><!-- doxytag: member="PxVehicleSuspensionData::PxVehicleWheels4SimData" ref="4c2a2bf5a268389976a6f3c6ffeb1806" args="" -->
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<td class="memname">friend class PxVehicleWheels4SimData<code> [friend]</code> </td>
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<hr><h2>Member Data Documentation</h2>
<a class="anchor" name="fbfa04e080c4318d167019151cd9fc23"></a><!-- doxytag: member="PxVehicleSuspensionData::mCamberAtMaxCompression" ref="fbfa04e080c4318d167019151cd9fc23" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#fbfa04e080c4318d167019151cd9fc23">PxVehicleSuspensionData::mCamberAtMaxCompression</a> </td>
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<p>
Camber angle (in radians) of wheel when the suspension is at maximum compression.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>For compressed suspensions the camber angle is a linear interpolation of mCamberAngleAtRest and mCamberAtMaxCompression<p>
Specified in radians.</dd></dl>
<b>Range:</b> [-pi/2, pi/2]<br>
</div>
</div><p>
<a class="anchor" name="057401ec58e0e0515b70e1d23c840cb7"></a><!-- doxytag: member="PxVehicleSuspensionData::mCamberAtMaxDroop" ref="057401ec58e0e0515b70e1d23c840cb7" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#057401ec58e0e0515b70e1d23c840cb7">PxVehicleSuspensionData::mCamberAtMaxDroop</a> </td>
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<p>
Camber angle (in radians) of wheel when the suspension is at maximum droop.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>For extended suspensions the camber angle is linearly interpolation of mCamberAngleAtRest and mCamberAtMaxDroop<p>
Specified in radians.</dd></dl>
<b>Range:</b> [-pi/2, pi/2]<br>
</div>
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<a class="anchor" name="009eee43a101ae543e3b1fc551792653"></a><!-- doxytag: member="PxVehicleSuspensionData::mCamberAtRest" ref="009eee43a101ae543e3b1fc551792653" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#009eee43a101ae543e3b1fc551792653">PxVehicleSuspensionData::mCamberAtRest</a> </td>
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<p>
Camber angle (in radians) of wheel when the suspension is at its rest position.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>Specified in radians.</dd></dl>
<b>Range:</b> [-pi/2, pi/2]<br>
</div>
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<a class="anchor" name="41931d05cc3610c523139d4f975cced6"></a><!-- doxytag: member="PxVehicleSuspensionData::mMaxCompression" ref="41931d05cc3610c523139d4f975cced6" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#41931d05cc3610c523139d4f975cced6">PxVehicleSuspensionData::mMaxCompression</a> </td>
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<p>
Maximum compression allowed by suspension spring.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>Specified in metres (m).</dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
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<a class="anchor" name="20d5e1ae07792ecf7f0180c3456dd5ce"></a><!-- doxytag: member="PxVehicleSuspensionData::mMaxDroop" ref="20d5e1ae07792ecf7f0180c3456dd5ce" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#20d5e1ae07792ecf7f0180c3456dd5ce">PxVehicleSuspensionData::mMaxDroop</a> </td>
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<p>
Maximum elongation allowed by suspension spring.
<p>
<dl class="note" compact><dt><b>Note:</b></dt><dd>Specified in metres (m).</dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
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<a class="anchor" name="a84939cb947f9b7d600564a64982975d"></a><!-- doxytag: member="PxVehicleSuspensionData::mPad" ref="a84939cb947f9b7d600564a64982975d" args="[2]" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#05c9ff8df5782ffefdb90595b20efbbf">PxVehicleSuspensionData::mRecipMaxCompression</a><code> [private]</code> </td>
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Cached value of 1.0f/mMaxCompression.
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Not necessary to set this value because it is set by <a class="el" href="classPxVehicleWheelsSimData.html#2d919fecb713d371d2624e3b5b37053b" title="Set the suspension data of the idth wheel.">PxVehicleWheelsSimData::setSuspensionData</a> </dd></dl>
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<a class="anchor" name="ca07e38db13471eb6d3b54cb421aacfc"></a><!-- doxytag: member="PxVehicleSuspensionData::mRecipMaxDroop" ref="ca07e38db13471eb6d3b54cb421aacfc" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#ca07e38db13471eb6d3b54cb421aacfc">PxVehicleSuspensionData::mRecipMaxDroop</a><code> [private]</code> </td>
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Cached value of 1.0f/mMaxDroop.
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Not necessary to set this value because it is set by <a class="el" href="classPxVehicleWheelsSimData.html#2d919fecb713d371d2624e3b5b37053b" title="Set the suspension data of the idth wheel.">PxVehicleWheelsSimData::setSuspensionData</a> </dd></dl>
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<a class="anchor" name="bd5b02e608d8d8e06ec7932ccbe514de"></a><!-- doxytag: member="PxVehicleSuspensionData::mSpringDamperRate" ref="bd5b02e608d8d8e06ec7932ccbe514de" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#bd5b02e608d8d8e06ec7932ccbe514de">PxVehicleSuspensionData::mSpringDamperRate</a> </td>
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Spring damper rate of suspension unit.
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Specified in kilograms per second (kg s^-1).</dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
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<a class="anchor" name="d6c229a583ec71fa2f3192de790528a7"></a><!-- doxytag: member="PxVehicleSuspensionData::mSpringStrength" ref="d6c229a583ec71fa2f3192de790528a7" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#d6c229a583ec71fa2f3192de790528a7">PxVehicleSuspensionData::mSpringStrength</a> </td>
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Spring strength of suspension unit.
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Specified in kilograms per second-squared (kg s^-2).</dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
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<a class="anchor" name="23f96767e47ea394bbb10ee597f2d9d3"></a><!-- doxytag: member="PxVehicleSuspensionData::mSprungMass" ref="23f96767e47ea394bbb10ee597f2d9d3" args="" -->
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<td class="memname">PxReal <a class="el" href="classPxVehicleSuspensionData.html#23f96767e47ea394bbb10ee597f2d9d3">PxVehicleSuspensionData::mSprungMass</a> </td>
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Mass of vehicle that is supported by suspension spring.
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Specified in kilograms (kg).<p>
Each suspension is guaranteed to generate an upwards force of |gravity|*mSprungMass along the suspension direction when the wheel is perfectly at rest and sitting at the rest pose defined by the wheel centre offset.<p>
The sum of the sprung masses of all suspensions of a vehicle should match the mass of the <a class="el" href="classPxRigidDynamic.html" title="PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK.">PxRigidDynamic</a> associated with the vehicle. When this condition is satisfied for a vehicle on a horizontal plane the wheels of the vehicle are guaranteed to sit at the rest pose defined by the wheel centre offset. The mass matching condition is not enforced.<p>
As the wheel compresses or elongates along the suspension direction the force generated by the spring is F = |gravity|*mSprungMass + deltaX*mSpringStrength + deltaXDot*mSpringDamperRate where deltaX is the deviation from the defined rest pose and deltaXDot is the velocity of the sprung mass along the suspension direction. In practice, deltaXDot is computed by comparing the current and previous deviation from the rest pose and dividing the difference by the simulation timestep.<p>
If a single suspension spring is hanging in the air and generates zero force the remaining springs of the vehicle will necessarily sit in a compressed configuration. In summary, the sum of the remaining suspension forces cannot balance the downwards gravitational force acting on the vehicle without extra force arising from the deltaX*mSpringStrength force term.<p>
Theoretically, a suspension spring should generate zero force at maximum elongation and increase linearly as the suspension approaches the rest pose. <a class="el" href="classPxVehicleSuspensionData.html">PxVehicleSuspensionData</a> will only enforce this physical law if the spring is configured so that |gravity|*mSprungMass == mMaxDroop*mSpringStrength. To help decouple vehicle handling from visual wheel positioning this condition is not enforced. In practice, the value of |gravity|*mSprungMass + deltaX*mSpringStrength is clamped at zero to ensure it never falls negative.</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__vehicle.html#gbfa604162177064bc35b16627f2053d1" title="Compute the sprung masses of the suspension springs given (i) the number of sprung...">PxVehicleComputeSprungMasses</a>, <a class="el" href="classPxVehicleWheelsSimData.html#7f5a27dafbbf58ad01c0172e03349d24" title="Set the offset from the rigid body centre of mass to the centre of the idth wheel...">PxVehicleWheelsSimData::setWheelCentreOffset</a>, <a class="el" href="classPxVehicleSuspensionData.html#d6c229a583ec71fa2f3192de790528a7" title="Spring strength of suspension unit.">PxVehicleSuspensionData::mSpringStrength</a>, <a class="el" href="classPxVehicleSuspensionData.html#bd5b02e608d8d8e06ec7932ccbe514de" title="Spring damper rate of suspension unit.">PxVehicleSuspensionData::mSpringDamperRate</a>, <a class="el" href="classPxVehicleSuspensionData.html#20d5e1ae07792ecf7f0180c3456dd5ce" title="Maximum elongation allowed by suspension spring.">PxVehicleSuspensionData::mMaxDroop</a></dd></dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
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<hr>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxVehicleComponents_8h-source.html">PxVehicleComponents.h</a></ul>
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