PxCreateJointConstraints

Defined in include/PxImmediateMode.h

bool PxCreateJointConstraints(PxConstraintBatchHeader *batchHeaders, PxU32 nbHeaders, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, PxSpatialVector *Z, PxReal dt, PxReal invDt)

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 timestep.

  • invDt – [in] The inverse timestep.

  • Z – [out] Temporary buffer for impulse propagation.

Returns

a boolean indicating if this method was successful or not.