PxSolverConstraintPrepDesc

Defined in include/solver/PxSolverDefs.h

struct PxSolverConstraintPrepDesc : public PxSolverConstraintPrepDescBase 

Data structure used for preparing constraints before solving them.

Public Types

enum BodyState

Values:

enumerator eDYNAMIC_BODY

enumerator eSTATIC_BODY

enumerator eKINEMATIC_BODY

enumerator eARTICULATION

Public Members

Px1DConstraint *rows: The start of the constraint rows.

PxU32 numRows: The number of rows.

PxReal linBreakForce

PxReal angBreakForce: Break forces.

PxReal minResponseThreshold: The minimum response threshold.

bool disablePreprocessing: Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.

bool improvedSlerp: Use improved slerp model.

bool driveLimitsAreForces: Indicates whether drive limits are forces.

bool extendedLimits: Indicates whether we want to use extended limits.

bool disableConstraint: Disables constraint.

PxVec3p body0WorldOffset: Body0 world offset.

PxConstraintInvMassScale invMassScales: In: The local mass scaling for this pair.

PxSolverConstraintDesc *desc: Output: The PxSolverConstraintDesc filled in by contact prep.

const PxSolverBody *body0: In: The first body. Stores velocity information. Unused unless contact involves articulations.

const PxSolverBody *body1: In: The second body. Stores velocity information. Unused unless contact involves articulations.

const PxSolverBodyData *data0: In: The first PxSolverBodyData. Stores mass and miscellaneous information for the first body.

const PxSolverBodyData *data1: In: The second PxSolverBodyData. Stores mass and miscellaneous information for the second body.

PxTransform bodyFrame0: In: The world-space transform of the first body.

PxTransform bodyFrame1: In: The world-space transform of the second body.

BodyState bodyState0: In: Defines what kind of actor the first body is.

BodyState bodyState1: In: Defines what kind of actor the second body is.

void *writeback: Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.

void *shapeInteraction: Pointer to shape interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.

union PxSolverConstraintPrepDescBase::[anonymous] [anonymous]