PxSolverConstraintPrepDescBase
Defined in include/solver/PxSolverDefs.h
-
struct PxSolverConstraintPrepDescBase
Data structure used for preparing constraints before solving them.
Subclassed by PxSolverConstraintPrepDesc, PxSolverContactDesc
Public Types
Public Members
-
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.
-
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]
-
PxConstraintInvMassScale invMassScales