PxTGSSolverConstraintPrepDesc
Defined in include/solver/PxSolverDefs.h
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struct PxTGSSolverConstraintPrepDesc : public PxTGSSolverConstraintPrepDescBase
Public Members
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Px1DConstraint *rows
The start of the constraint rows.
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void *writeback
Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.
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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.
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bool improvedSlerp
Use improved slerp model.
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bool driveLimitsAreForces
Indicates whether drive limits are forces.
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bool extendedLimits
Indicates whether extended limits are used.
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bool disableConstraint
Disables constraint.
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PxConstraintInvMassScale invMassScales
In: The local mass scaling for this pair.
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PxSolverConstraintDesc *desc
Output: The PxSolverConstraintDesc filled in by contact prep.
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const PxTGSSolverBodyVel *body0
In: The first body. Stores velocity information. Unused unless contact involves articulations.
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const PxTGSSolverBodyVel *body1
In: The second body. Stores velocity information. Unused unless contact involves articulations.
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const PxTGSSolverBodyTxInertia *body0TxI
In: The first PxTGSSolverBodyTxInertia. Stores the delta body to world transform and sqrtInvInertia for first body.
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const PxTGSSolverBodyTxInertia *body1TxI
In: The second PxTGSSolverBodyTxInertia. Stores the delta body to world transform and sqrtInvInertia for second body.
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const PxTGSSolverBodyData *bodyData0
In: The first PxTGSSolverBodyData. Stores mass and miscellaneous information for the first body.
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const PxTGSSolverBodyData *bodyData1
In: The second PxTGSSolverBodyData. Stores mass and miscellaneous information for the second body.
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PxTransform bodyFrame0
In: The world-space transform of the first body.
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PxTransform bodyFrame1
In: The world-space transform of the second body.
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PxSolverContactDesc::BodyState bodyState0
In: Defines what kind of actor the first body is.
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PxSolverContactDesc::BodyState bodyState1
In: Defines what kind of actor the second body is.
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Px1DConstraint *rows