PxSolveConstraints

Defined in include/PxImmediateMode.h

void PxSolveConstraints(const PxConstraintBatchHeader *batchHeaders, PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, const PxSolverBody *solverBodies, PxVec3 *linearMotionVelocity, PxVec3 *angularMotionVelocity, PxU32 nbSolverBodies, PxU32 nbPositionIterations, PxU32 nbVelocityIterations, float dt = 0.0f, float invDt = 0.0f, 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

  • linearMotionVelocity – [out] The resulting linear motion velocity

  • angularMotionVelocity – [out] The resulting angular motion velocity.

  • 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] Timestep. Only needed if articulations are sent to the function.

  • invDt – [in] Inverse timestep. Only needed if articulations are sent to the function.

  • 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

  • deltaV – [out] Temporary buffer for velocity change