Defined in include/PxImmediateMode.h

void PxIntegrateSolverBodiesTGS(PxTGSSolverBodyVel *solverBody, PxTGSSolverBodyTxInertia *txInertia, PxTransform *poses, const PxU32 nbBodiesToIntegrate, const PxReal dt)

Integrates a rigid body, returning the new velocities and transforms.

After this function has been called, solverBody stores all the body’s velocity data.

  • solverBody[inout] The array of solver bodies to be integrated

  • txInertia[in] The delta pose and inertia terms

  • poses[inout] The original poses of the bodies. Updated to be the new poses of the bodies

  • nbBodiesToIntegrate[in] The total number of bodies to integrate

  • dt[in] The timestep