PxSolveConstraints

Defined in include/PxImmediateMode.h

void PxSolveConstraints(

const PxConstraintBatchHeader *batchHeaders,

PxU32 nbBatchHeaders,

const PxSolverConstraintDesc *solverConstraintDescs,

const PxSolverBody *solverBodies,

PxVec3 *linearMotionVelocity,

PxVec3 *angularMotionVelocity,

PxU32 nbSolverBodies,

PxU32 nbPositionIterations,

PxU32 nbVelocityIterations,

float dt = 0.0f,

float invDt = 0.0f,

PxU32 nbSolverArticulations = 0,

PxArticulationHandle *solverArticulations = NULL,

PxSpatialVector *Z = NULL,

PxSpatialVector *deltaV = NULL,

)

Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures.

Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities.

Parameters:

• batchHeaders – [in] The set of batch headers to be solved

• nbBatchHeaders – [in] The total number of batch headers to be solved

• solverConstraintDescs – [in] The reordererd set of solver constraint descs referenced by the batch headers

• solverBodies – [inout] The set of solver bodies the bodies reference

• linearMotionVelocity – [out] The resulting linear motion velocity

• angularMotionVelocity – [out] The resulting angular motion velocity.

• nbSolverBodies – [in] The total number of solver bodies

• nbPositionIterations – [in] The number of position iterations to run

• nbVelocityIterations – [in] The number of velocity iterations to run

• dt – [in] Timestep. Only needed if articulations are sent to the function.

• invDt – [in] Inverse timestep. Only needed if articulations are sent to the function.

• nbSolverArticulations – [in] Number of articulations to solve constraints for.

• solverArticulations – [in] Array of articulations to solve constraints for.

• Z – [out] Deprecated, no longer used. Any value (including NULL) can be passed.

• deltaV – [out] Temporary buffer for velocity change