PxSolverContactDesc

Defined in include/solver/PxSolverDefs.h

struct PxSolverContactDesc : 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

void *shapeInteraction: Pointer to shape interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.

PxContactPoint *contacts: The start of the contacts for this pair.

PxU32 numContacts: The total number of contacts this pair references.

bool hasMaxImpulse: Defines whether this pairs has maxImpulses clamping enabled.

bool disableStrongFriction: Defines whether this pair disables strong friction (sticky friction correlation)

bool hasForceThresholds: Defines whether this pair requires force thresholds.

PxReal restDistance: A distance at which the solver should aim to hold the bodies separated. Default is 0.

PxReal maxCCDSeparation: A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX for bodies with eENABLE_SPECULATIVE_CCD on. Do not set directly!

PxU8 *frictionPtr: InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behavior or discarded each frame.

PxU8 frictionCount: The total number of friction patches in this pair.

PxReal *contactForces: Out: A buffer for the solver to write applied contact forces to.

PxU32 startFrictionPatchIndex: Start index of friction patch in the correlation buffer. Set by friction correlation.

PxU32 numFrictionPatches: Total number of friction patches in this pair. Set by friction correlation.

PxU32 startContactPatchIndex: The start index of this pair’s contact patches in the correlation buffer. For internal use only.

PxU16 numContactPatches: Total number of contact patches.

PxU16 axisConstraintCount: Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistical purposes.

PxReal offsetSlop: Slop value used to snap contact line of action back in-line with the COM.

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.