Class DifferentialSolver

Namespace

LibreRally.Vehicle.Physics

Assembly

LibreRally.dll

Stateless differential torque-split calculations.

Torque path: engine → clutch → gearbox → center diff → front/rear diff → wheels.

Each differential splits its input torque to two outputs based on wheel speed difference and the configured DifferentialType.

All methods are static and allocation-free for performance with 50+ vehicles.

Reference: Milliken & Milliken, "Race Car Vehicle Dynamics", Chapter 6.

public static class DifferentialSolver

Inheritance

object

DifferentialSolver

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

SplitTorque(in DifferentialConfig, float, float, float, float, float, out float, out float)

Splits inputTorque into two output torques while respecting the available traction capacity of each output shaft.

public static void SplitTorque(in DifferentialConfig config, float inputTorque, float omegaLeft, float omegaRight, float tractionLimitLeft, float tractionLimitRight, out float torqueLeft, out float torqueRight)

Parameters

config DifferentialConfig

Differential configuration.

inputTorque float

Total torque entering the differential (N·m).

omegaLeft float

Angular velocity of the left output shaft (rad/s).

omegaRight float

Angular velocity of the right output shaft (rad/s).

tractionLimitLeft float

Maximum transmissible torque magnitude on the left output (N·m).

tractionLimitRight float

Maximum transmissible torque magnitude on the right output (N·m).

torqueLeft float

Output: torque delivered to the left shaft (N·m).

torqueRight float

Output: torque delivered to the right shaft (N·m).

SplitTorque(in DifferentialConfig, float, float, float, out float, out float)

Splits inputTorque into two output torques based on the differential configuration and the angular velocities of the two output shafts.

public static void SplitTorque(in DifferentialConfig config, float inputTorque, float omegaLeft, float omegaRight, out float torqueLeft, out float torqueRight)

Parameters

config DifferentialConfig

Differential configuration.

inputTorque float

Total torque entering the differential (N·m).

omegaLeft float

Angular velocity of the left output shaft (rad/s).

omegaRight float

Angular velocity of the right output shaft (rad/s).

torqueLeft float

Output: torque delivered to the left shaft (N·m).

torqueRight float

Output: torque delivered to the right shaft (N·m).