PxCreateJointConstraintsTGS

Defined in include/PxImmediateMode.h

bool PxCreateJointConstraintsTGS(PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)

Creates a set of joint constraint blocks.

Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs

Parameters

• batchHeaders – [in] The array of batch headers to be processed

• nbHeaders – [in] The total number of batch headers to process

• jointDescs – [in] An array of constraint prep descs defining the properties of the constraints being created

• allocator – [in] An allocator callback to allocate constraint data

• dt – [in] The total time-step/nbPositionIterations

• totalDt – [in] The total time-step

• invDt – [in] The inverse (timestep/nbPositionIterations)

• invTotalDt – [in] The inverse total time-step

• lengthScale – [in] PxToleranceScale::length, i.e. a meter in simulation units

Returns

a boolean indicating if this method was successful or not.