PxSolverConstraintPrepDescBase

Defined in include/solver/PxSolverDefs.h

struct PxSolverConstraintPrepDescBase

Data structure used for preparing constraints before solving them.

Subclassed by PxSolverConstraintPrepDesc, PxSolverContactDesc

Public Types

enum BodyState

Values:

enumerator eDYNAMIC_BODY

enumerator eSTATIC_BODY

enumerator eKINEMATIC_BODY

enumerator eARTICULATION

Public Members

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.