PxCreateJointConstraints
Defined in include/PxImmediateMode.h
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bool PxCreateJointConstraints(PxConstraintBatchHeader *batchHeaders, PxU32 nbHeaders, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, PxSpatialVector *Z, PxReal dt, PxReal invDt)
Creates a set of joint constraint blocks.
Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs
- Parameters
batchHeaders – [in] The array of batch headers to be processed.
nbHeaders – [in] The total number of batch headers to process.
jointDescs – [in] An array of constraint prep descs defining the properties of the constraints being created.
allocator – [in] An allocator callback to allocate constraint data.
dt – [in] The timestep.
invDt – [in] The inverse timestep.
Z – [out] Deprecated, no longer used. Any value (including NULL) can be passed.
- Returns
a boolean indicating if this method was successful or not.