PxSolverBodyData
Defined in include/solver/PxSolverDefs.h
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struct PxSolverBodyData
Struct that the solver uses to store the state and other properties of a body.
Public Functions
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inline PxReal projectVelocity(const PxVec3 &lin, const PxVec3 &ang) const
Public Members
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PxVec3 linearVelocity
12 Pre-solver linear velocity
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PxReal invMass
16 inverse mass
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PxVec3 angularVelocity
28 Pre-solver angular velocity
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PxReal reportThreshold
32 contact force threshold
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PxMat33 sqrtInvInertia
68 inverse inertia in world space
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PxReal penBiasClamp
72 the penetration bias clamp
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PxU32 nodeIndex
76 the node idx of this solverBodyData. Used by solver to reference between solver bodies and island bodies. Not required by immediate mode
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PxReal maxContactImpulse
80 the max contact impulse
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PxTransform body2World
108 the body’s transform
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PxU16 pad
112 pad