PxConstraintSolveHint

Defined in include/PxConstraintDesc.h

struct PxConstraintSolveHint

Constraint type hints which the solver uses to optimize constraint handling.

Public Types

enum Enum

Values:

enumerator eNONE

no special properties

enumerator eACCELERATION1

a group of acceleration drive constraints with the same stiffness and drive parameters

enumerator eSLERP_SPRING

temporary special value to identify SLERP drive rows

enumerator eACCELERATION2

a group of acceleration drive constraints with the same stiffness and drive parameters

enumerator eACCELERATION3

a group of acceleration drive constraints with the same stiffness and drive parameters

enumerator eROTATIONAL_EQUALITY

for internal purpose only, please do not use.

enumerator eROTATIONAL_INEQUALITY

for internal purpose only, please do not use.

enumerator eEQUALITY

Mark as equality constraint.

If a 1D constraint is an equality constraint with [-PX_MAX_FLT, PX_MAX_FLT] force limits and a velocity target equal zero, then this flag can be raised to allow the solver to internally change the jacobian of this constraint and have it being orthogonalized relative to other equality constraints in the same PxConstraint (unless PxConstraintFlag::eDISABLE_PREPROCESSING is set). This can improve the convergence when solving the constraints.

enumerator eINEQUALITY

Mark as inequality constraint.

If a 1D constraint is an inequality constraint with [0, PX_MAX_FLT] force limits, then this flag can be raised to allow the solver to internally change the jacobian of this constraint and have it being orthogonalized relative to the equality constraints in the same PxConstraint (unless PxConstraintFlag::eDISABLE_PREPROCESSING is set). This can improve the convergence when solving the constraints.