PxSolveConstraintsTGS#

Defined in include/PxImmediateMode.h

void PxSolveConstraintsTGS(
const PxConstraintBatchHeader *batchHeaders,
PxU32 nbBatchHeaders,
const PxSolverConstraintDesc *solverConstraintDescs,
PxTGSSolverBodyVel *solverBodies,
PxTGSSolverBodyTxInertia *txInertias,
PxU32 nbSolverBodies,
PxU32 nbPositionIterations,
PxU32 nbVelocityIterations,
float dt,
float invDt,
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

  • txInertias – [inout] The set of solver body TxInertias the bodies reference

  • 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] time-step/nbPositionIterations

  • invDt – [in] 1/(time-step/nbPositionIterations)

  • 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 (only if articulations are used, size should be at least as large as the maximum number of links in any articulations being simulated)

On this page