PxSolverConstraintDesc

Defined in include/solver/PxSolverDefs.h

struct PxSolverConstraintDesc

Constraint descriptor used inside the solver.

Public Types

enum ConstraintType

Values:

enumerator eCONTACT_CONSTRAINT

Defines this pair is a contact constraint.

enumerator eJOINT_CONSTRAINT

Defines this pair is a joint constraint.

Public Members

PxSolverBody *bodyA

bodyA pointer

PxTGSSolverBodyVel *tgsBodyA

bodyA pointer

void *articulationA

Articulation pointer for body A.

union PxSolverConstraintDesc::[anonymous] [anonymous]

PxSolverBody *bodyB

BodyB pointer.

PxTGSSolverBodyVel *tgsBodyB

BodyB pointer.

void *articulationB

Articulation pointer for body B.

union PxSolverConstraintDesc::[anonymous] [anonymous]

PxU32 bodyADataIndex

Body A’s index into the SolverBodyData array.

PxU32 bodyBDataIndex

Body B’s index into the SolverBodyData array.

PxU32 linkIndexA

Link index defining which link in Articulation A this constraint affects. If not an articulation, must be PxSolverConstraintDesc::RIGID_BODY.

PxU32 linkIndexB

Link index defining which link in Articulation B this constraint affects. If not an articulation, must be PxSolverConstraintDesc::RIGID_BODY.

PxU8 *constraint

Pointer to the constraint rows to be solved.

void *writeBack

Pointer to the writeback structure results for this given constraint are to be written to.

void *writeBackFriction

Pointer to writeback contact friction impulses. Points to a PxVec3* buffer.

PxU16 progressA

Internal progress counter.

PxU16 progressB

Internal progress counter.

PxU16 constraintType

type of constraint. Union member active until constraint prepping, afterwards memory used for constraint length

PxU16 constraintLengthOver16

constraintLength/16, max constraint length is 1MB.

union PxSolverConstraintDesc::[anonymous] [anonymous]

Public Static Attributes

static const PxU16 RIGID_BODY = 0xffff