PxSolverConstraintPrepDescBase

Defined in include/solver/PxSolverDefs.h

struct PxSolverConstraintPrepDescBase

Data structure used for preparing constraints before solving them.

Subclassed by PxSolverConstraintPrepDesc, PxSolverContactDesc

Public Types

enum BodyState

Values:

enumerator eDYNAMIC_BODY

enumerator eSTATIC_BODY

enumerator eKINEMATIC_BODY

enumerator eARTICULATION

Public Members

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.

void *writeback

Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.

void *shapeInteraction

Pointer to shape interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.

union PxSolverConstraintPrepDescBase::[anonymous] [anonymous]