PxIntegrateSolverBodies

Defined in include/PxImmediateMode.h

void PxIntegrateSolverBodies(PxSolverBodyData *solverBodyData, PxSolverBody *solverBody, const PxVec3 *linearMotionVelocity, const PxVec3 *angularMotionState, PxU32 nbBodiesToIntegrate, PxReal dt)

Integrates a rigid body, returning the new velocities and transforms.

After this function has been called, solverBodyData stores all the body’s velocity data.

Parameters

• solverBodyData – [inout] The array of solver body data to be integrated

• solverBody – [in] The bodies’ linear and angular velocities

• linearMotionVelocity – [in] The bodies’ linear motion velocity array

• angularMotionState – [in] The bodies’ angular motion velocity array

• nbBodiesToIntegrate – [in] The total number of bodies to integrate

• dt – [in] The timestep