PxConstraintSolveHint
Defined in include/PxConstraintDesc.h
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struct PxConstraintSolveHint
Constraint type hints which the solver uses to optimize constraint handling.
Public Types
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enum Enum
Values:
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enumerator eNONE
no special properties
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enumerator eACCELERATION1
a group of acceleration drive constraints with the same stiffness and drive parameters
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enumerator eSLERP_SPRING
temporary special value to identify SLERP drive rows
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enumerator eACCELERATION2
a group of acceleration drive constraints with the same stiffness and drive parameters
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enumerator eACCELERATION3
a group of acceleration drive constraints with the same stiffness and drive parameters
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enumerator eROTATIONAL_EQUALITY
for internal purpose only, please do not use.
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enumerator eROTATIONAL_INEQUALITY
for internal purpose only, please do not use.
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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.
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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.
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enumerator eNONE
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enum Enum