PxComputeUnconstrainedVelocitiesTGS

Defined in include/PxImmediateMode.h

void PxComputeUnconstrainedVelocitiesTGS(PxArticulationHandle articulation, const PxVec3 &gravity, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal invLengthScale)

Computes unconstrained velocities for a given articulation.

Parameters

• articulation – [in] Articulation handle

• gravity – [in] Gravity vector

• dt – [in] Timestep/numPosIterations

• totalDt – [in] Timestep

• invDt – [in] 1/(Timestep/numPosIterations)

• invTotalDt – [in] 1/Timestep

• invLengthScale – [in] 1/lengthScale from PxTolerancesScale.