PxComputeUnconstrainedVelocitiesTGS

Defined in include/PxImmediateMode.h

void PxComputeUnconstrainedVelocitiesTGS(

PxArticulationHandle articulation,

const PxVec3 &gravity,

PxReal dt,

PxReal totalDt,

PxReal invDt,

PxReal invTotalDt,

PxReal invLengthScale,

)

Computes unconstrained velocities for a given articulation.

Parameters:

• articulation – [in] Articulation handle

• gravity – [in] Gravity vector

• dt – [in] Timestep/numPosIterations

• totalDt – [in] Timestep

• invDt – [in] 1/(Timestep/numPosIterations)

• invTotalDt – [in] 1/Timestep

• invLengthScale – [in] 1/lengthScale from PxTolerancesScale.