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