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.