PxSolveConstraintsTGS

void PxSolveConstraintsTGS(const PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, PxTGSSolverBodyVel *solverBodies, PxTGSSolverBodyTxInertia *txInertias, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations, const float dt, const float invDt, const PxU32 nbSolverArticulations = 0, PxArticulationHandle *solverArticulations = NULL, PxSpatialVector *Z = NULL, PxSpatialVector *deltaV = NULL)

Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures.

Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities.

Parameters

batchHeaders – [in] The set of batch headers to be solved
nbBatchHeaders – [in] The total number of batch headers to be solved
solverConstraintDescs – [in] The reordererd set of solver constraint descs referenced by the batch headers
solverBodies – [inout] The set of solver bodies the bodies reference
txInertias – [inout] The set of solver body TxInertias the bodies reference
nbSolverBodies – [in] The total number of solver bodies
nbPositionIterations – [in] The number of position iterations to run
nbVelocityIterations – [in] The number of velocity iterations to run
dt – [in] time-step/nbPositionIterations
invDt – [in] 1/(time-step/nbPositionIterations)
nbSolverArticulations – [in] Number of articulations to solve constraints for.
solverArticulations – [in] Array of articulations to solve constraints for.
Z – [out] Temporary buffer for impulse propagation (only if articulations are used, size should be at least as large as the maximum number of links in any articulations being simulated)
deltaV – [out] Temporary buffer for velocity change (only if articulations are used, size should be at least as large as the maximum number of links in any articulations being simulated)