PxSolverContactDesc
Defined in include/solver/PxSolverDefs.h
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struct PxSolverContactDesc : public PxSolverConstraintPrepDescBase
Data structure used for preparing constraints before solving them.
Public Types
Public Members
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PxU8 *frictionPtr
InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behavior or discarded each frame.
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const PxContactPoint *contacts
The start of the contacts for this pair.
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bool hasMaxImpulse
Defines whether this pairs has maxImpulses clamping enabled.
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bool disableStrongFriction
Defines whether this pair disables strong friction (sticky friction correlation)
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bool hasForceThresholds
Defines whether this pair requires force thresholds.
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PxReal restDistance
A distance at which the solver should aim to hold the bodies separated. Default is 0.
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PxReal maxCCDSeparation
A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX for bodies with eENABLE_SPECULATIVE_CCD on. Do not set directly!
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PxU32 startFrictionPatchIndex
Start index of friction patch in the correlation buffer. Set by friction correlation.
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PxU32 numFrictionPatches
Total number of friction patches in this pair. Set by friction correlation.
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PxU32 startContactPatchIndex
The start index of this pair’s contact patches in the correlation buffer. For internal use only.
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PxU16 axisConstraintCount
Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistical purposes.
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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 PxSolverBody *body0
In: The first body. Stores velocity information. Unused unless contact involves articulations.
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const PxSolverBody *body1
In: The second body. Stores velocity information. Unused unless contact involves articulations.
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const PxSolverBodyData *data0
In: The first PxSolverBodyData. Stores mass and miscellaneous information for the first body.
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const PxSolverBodyData *data1
In: The second PxSolverBodyData. 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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void *writeback
Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.
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void *shapeInteraction
Pointer to shape interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.
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union PxSolverConstraintPrepDescBase::[anonymous] [anonymous]
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PxU8 *frictionPtr