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

  • 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


a boolean indicating if this method was successful or not.