PxTGSSolverConstraintPrepDescBase

Defined in include/solver/PxSolverDefs.h

struct PxTGSSolverConstraintPrepDescBase

Subclassed by PxTGSSolverConstraintPrepDesc, PxTGSSolverContactDesc

Public Members

PxConstraintInvMassScale invMassScales

In: The local mass scaling for this pair.

PxSolverConstraintDesc *desc

Output: The PxSolverConstraintDesc filled in by contact prep.

const PxTGSSolverBodyVel *body0

In: The first body. Stores velocity information. Unused unless contact involves articulations.

const PxTGSSolverBodyVel *body1

In: The second body. Stores velocity information. Unused unless contact involves articulations.

const PxTGSSolverBodyTxInertia *body0TxI

In: The first PxTGSSolverBodyTxInertia. Stores the delta body to world transform and sqrtInvInertia for first body.

const PxTGSSolverBodyTxInertia *body1TxI

In: The second PxTGSSolverBodyTxInertia. Stores the delta body to world transform and sqrtInvInertia for second body.

const PxTGSSolverBodyData *bodyData0

In: The first PxTGSSolverBodyData. Stores mass and miscellaneous information for the first body.

const PxTGSSolverBodyData *bodyData1

In: The second PxTGSSolverBodyData. 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.

PxSolverContactDesc::BodyState bodyState0

In: Defines what kind of actor the first body is.

PxSolverContactDesc::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 PxTGSSolverConstraintPrepDescBase::[anonymous] [anonymous]