PxCreateJointConstraintsTGS#
Defined in include/PxImmediateMode.h
- bool PxCreateJointConstraintsTGS(
- PxConstraintBatchHeader *batchHeaders,
- PxU32 nbHeaders,
- PxTGSSolverConstraintPrepDesc *jointDescs,
- PxConstraintAllocator &allocator,
- PxReal dt,
- PxReal totalDt,
- PxReal invDt,
- PxReal invTotalDt,
- PxReal lengthScale,
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 total time-step/nbPositionIterations
totalDt – [in] The total time-step
invDt – [in] The inverse (timestep/nbPositionIterations)
invTotalDt – [in] The inverse total time-step
lengthScale – [in] PxToleranceScale::length, i.e. a meter in simulation units
- Returns:
a boolean indicating if this method was successful or not.