PxSolverConstraintPrepDesc

Defined in include/solver/PxSolverDefs.h

struct PxSolverConstraintPrepDesc : public PxSolverConstraintPrepDescBase

Data structure used for preparing constraints before solving them.

Public Types

enum BodyState

Values:

enumerator eDYNAMIC_BODY

enumerator eSTATIC_BODY

enumerator eKINEMATIC_BODY

enumerator eARTICULATION

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 we want to use extended limits.

bool disableConstraint

Disables constraint.

PxVec3p body0WorldOffset

Body0 world offset.

PxConstraintInvMassScale invMassScales

In: The local mass scaling for this pair.

PxSolverConstraintDesc *desc

Output: The PxSolverConstraintDesc filled in by contact prep.

const PxSolverBody *body0

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

const PxSolverBody *body1

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

const PxSolverBodyData *data0

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

const PxSolverBodyData *data1

In: The second PxSolverBodyData. 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.

BodyState bodyState0

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

BodyState bodyState1

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