PxSolveConstraints

Defined in include/PxImmediateMode.h

void PxSolveConstraints(const PxConstraintBatchHeader *batchHeaders, PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, const PxSolverBody *solverBodies, PxVec3 *linearMotionVelocity, PxVec3 *angularMotionVelocity, PxU32 nbSolverBodies, PxU32 nbPositionIterations, PxU32 nbVelocityIterations, float dt = 0.0f, float invDt = 0.0f, PxU32 nbSolverArticulations = 0, PxArticulationHandle *solverArticulations = NULL, PxSpatialVector *Z = NULL, PxSpatialVector *deltaV = NULL)

Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures.

Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities.

Parameters
  • batchHeaders[in] The set of batch headers to be solved

  • nbBatchHeaders[in] The total number of batch headers to be solved

  • solverConstraintDescs[in] The reordererd set of solver constraint descs referenced by the batch headers

  • solverBodies[inout] The set of solver bodies the bodies reference

  • linearMotionVelocity[out] The resulting linear motion velocity

  • angularMotionVelocity[out] The resulting angular motion velocity.

  • nbSolverBodies[in] The total number of solver bodies

  • nbPositionIterations[in] The number of position iterations to run

  • nbVelocityIterations[in] The number of velocity iterations to run

  • dt[in] Timestep. Only needed if articulations are sent to the function.

  • invDt[in] Inverse timestep. Only needed if articulations are sent to the function.

  • nbSolverArticulations[in] Number of articulations to solve constraints for.

  • solverArticulations[in] Array of articulations to solve constraints for.

  • Z[out] Deprecated, no longer used. Any value (including NULL) can be passed.

  • deltaV[out] Temporary buffer for velocity change