PxComputeUnconstrainedVelocitiesTGS

Defined in include/PxImmediateMode.h

void PxComputeUnconstrainedVelocitiesTGS(PxArticulationHandle articulation, const PxVec3 &gravity, PxReal dt, PxReal totalDt, PxReal invDt, PxReal invTotalDt, PxReal invLengthScale)

Computes unconstrained velocities for a given articulation.

Parameters

  • articulation – [in] Articulation handle

  • gravity – [in] Gravity vector

  • dt – [in] Timestep/numPosIterations

  • totalDt – [in] Timestep

  • invDt – [in] 1/(Timestep/numPosIterations)

  • invTotalDt – [in] 1/Timestep

  • invLengthScale – [in] 1/lengthScale from PxTolerancesScale.