PxIntegrateSolverBodiesTGS

Defined in include/PxImmediateMode.h

void PxIntegrateSolverBodiesTGS(PxTGSSolverBodyVel *solverBody, const PxTGSSolverBodyTxInertia *txInertia, PxTransform *poses, PxU32 nbBodiesToIntegrate, PxReal dt)

Integrates a rigid body, returning the new velocities and transforms.

After this function has been called, solverBody stores all the body’s velocity data.

Parameters

• solverBody – [inout] The array of solver bodies to be integrated

• txInertia – [in] The delta pose and inertia terms

• poses – [inout] The original poses of the bodies. Updated to be the new poses of the bodies

• nbBodiesToIntegrate – [in] The total number of bodies to integrate

• dt – [in] The timestep