PxTGSSolverConstraintPrepDesc

Defined in include/solver/PxSolverDefs.h

Inheritance Relationships

Base Type

• public PxTGSSolverConstraintPrepDescBase (PxTGSSolverConstraintPrepDescBase)

struct PxTGSSolverConstraintPrepDesc : public PxTGSSolverConstraintPrepDescBase

Public Members

Px1DConstraint *rows

The start of the constraint rows.

PxU32 numRows

The number of rows.

PxReal linBreakForce

PxReal angBreakForce

Break forces.

PxReal minResponseThreshold

The minimum response threshold.

void *writeback

Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.

bool disablePreprocessing

Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.

bool improvedSlerp

Use improved slerp model.

bool driveLimitsAreForces

Indicates whether drive limits are forces.

bool extendedLimits

Indicates whether extended limits are used.

bool disableConstraint

Disables constraint.

PxVec3p body0WorldOffset

Body0 world offset.

PxVec3p cA2w

Location of anchor point A in world space.

PxVec3p cB2w

Location of anchor point B in world space.

PxConstraintInvMassScale invMassScales

In: The local mass scaling for this pair.

PxSolverConstraintDesc *desc

Output: The PxSolverConstraintDesc filled in by contact prep.

const PxTGSSolverBodyVel *body0

In: The first body. Stores velocity information. Unused unless contact involves articulations.

const PxTGSSolverBodyVel *body1

In: The second body. Stores velocity information. Unused unless contact involves articulations.

const PxTGSSolverBodyTxInertia *body0TxI

In: The first PxTGSSolverBodyTxInertia. Stores the delta body to world transform and sqrtInvInertia for first body.

const PxTGSSolverBodyTxInertia *body1TxI

In: The second PxTGSSolverBodyTxInertia. Stores the delta body to world transform and sqrtInvInertia for second body.

const PxTGSSolverBodyData *bodyData0

In: The first PxTGSSolverBodyData. Stores mass and miscellaneous information for the first body.

const PxTGSSolverBodyData *bodyData1

In: The second PxTGSSolverBodyData. Stores mass and miscellaneous information for the second body.

PxTransform bodyFrame0

In: The world-space transform of the first body.

PxTransform bodyFrame1

In: The world-space transform of the second body.

PxSolverContactDesc::BodyState bodyState0

In: Defines what kind of actor the first body is.

PxSolverContactDesc::BodyState bodyState1

In: Defines what kind of actor the second body is.