PxConstraintDesc.h File Reference
#include "PxPhysXConfig.h"
#include "foundation/PxFlags.h"
#include "foundation/PxVec3.h"
#include "common/PxBase.h"
This graph shows which files directly or indirectly include this file:
PxConstraint.h PxPhysicsAPI.h PxSolverDefs.h PxJoint.h PxDistanceJoint.h PxFixedJoint.h PxJointLimit.h PxPrismaticJoint.h PxRevoluteJoint.h PxSphericalJoint.h PxD6Joint.h PxContactJoint.h PxExtensionsAPI.h PxImmediateMode.h

Go to the source code of this file.

Classes

struct  Px1DConstraintFlag
 constraint row flags More...
 
struct  PxConstraintSolveHint
 constraint type hints which the solver uses to optimize constraint handling More...
 
struct  Px1DConstraint
 A constraint. More...
 
struct  PxConstraintVisualizationFlag
 Flags for determining which components of the constraint should be visualized. More...
 
struct  PxConstraintInvMassScale
 
class  PxConstraintVisualizer
 
struct  PxPvdUpdateType
 
class  PxConstraintConnector
 This class connects a custom constraint to the SDK. More...
 

Typedefs

typedef PxFlags< Px1DConstraintFlag::Type, PxU16 > Px1DConstraintFlags
 
typedef PxU32(* PxConstraintSolverPrep) (Px1DConstraint *constraints, PxVec3 &bodyAWorldOffset, PxU32 maxConstraints, PxConstraintInvMassScale &invMassScale, const void *constantBlock, const PxTransform &bodyAToWorld, const PxTransform &bodyBToWorld, bool useExtendedLimits, PxVec3 &cAtW, PxVec3 &cBtW)
 
typedef void(* PxConstraintProject) (const void *constantBlock, PxTransform &bodyAToWorld, PxTransform &bodyBToWorld, bool projectToA)
 
typedef void(* PxConstraintVisualize) (PxConstraintVisualizer &visualizer, const void *constantBlock, const PxTransform &body0Transform, const PxTransform &body1Transform, PxU32 flags)
 

Functions

struct Px1DConstraint PX_ALIGN_SUFFIX (16)
 
PX_CUDA_CALLABLE PX_FORCE_INLINE PxConstraintInvMassScale ()
 
PX_CUDA_CALLABLE PX_FORCE_INLINE PxConstraintInvMassScale (PxReal lin0, PxReal ang0, PxReal lin1, PxReal ang1)
 

Variables

PxVec3 linear0
 linear component of velocity jacobian in world space More...
 
PxReal geometricError
 geometric error of the constraint along this axis More...
 
PxVec3 angular0
 angular component of velocity jacobian in world space More...
 
PxReal velocityTarget
 velocity target for the constraint along this axis More...
 
PxVec3 linear1
 linear component of velocity jacobian in world space More...
 
PxReal minImpulse
 minimum impulse the solver may apply to enforce this constraint More...
 
PxVec3 angular1
 angular component of velocity jacobian in world space More...
 
PxReal maxImpulse
 maximum impulse the solver may apply to enforce this constraint More...
 
union {
   struct SpringModifiers {
      PxReal   stiffness
 spring parameter, for spring constraints More...
 
      PxReal   damping
 damping parameter, for spring constraints More...
 
   }   spring
 
   struct RestitutionModifiers {
      PxReal   restitution
 restitution parameter for determining additional "bounce" More...
 
      PxReal   velocityThreshold
 minimum impact velocity for bounce More...
 
   }   bounce
 
mods
 
PxReal forInternalUse
 for internal use only More...
 
PxU16 flags
 a set of Px1DConstraintFlags More...
 
PxU16 solveHint
 constraint optimization hint, should be an element of PxConstraintSolveHint More...
 
struct PxConstraintVisualizationFlag PX_ALIGN_SUFFIX
 

Function Documentation

◆ PxConstraintInvMassScale() [1/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE PX_ALIGN_SUFFIX::PxConstraintInvMassScale ( )

◆ PxConstraintInvMassScale() [2/2]

PX_CUDA_CALLABLE PX_FORCE_INLINE PX_ALIGN_SUFFIX::PxConstraintInvMassScale ( PxReal  lin0,
PxReal  ang0,
PxReal  lin1,
PxReal  ang1 
)

Variable Documentation

◆ angular0

PxReal angular0

angular component of velocity jacobian in world space

multiplier for inverse MoI of body0

Referenced by PxJacobianRow::operator*(), and PxJacobianRow::operator*=().

◆ angular1

PxReal angular1

angular component of velocity jacobian in world space

multiplier for inverse MoI of body1

Referenced by PxJacobianRow::operator*(), and PxJacobianRow::operator*=().

◆ bounce

struct { ... } RestitutionModifiers bounce

◆ damping

◆ flags

◆ forInternalUse

PxReal forInternalUse

for internal use only

◆ geometricError

PxReal geometricError

geometric error of the constraint along this axis

◆ linear0

PxReal linear0

linear component of velocity jacobian in world space

multiplier for inverse mass of body0

Referenced by PxJacobianRow::operator*(), and PxJacobianRow::operator*=().

◆ linear1

PxReal linear1

linear component of velocity jacobian in world space

multiplier for inverse mass of body1

Referenced by PxJacobianRow::operator*(), and PxJacobianRow::operator*=().

◆ maxImpulse

PxReal maxImpulse

maximum impulse the solver may apply to enforce this constraint

◆ minImpulse

PxReal minImpulse

minimum impulse the solver may apply to enforce this constraint

◆ mods

union { ... } mods

◆ restitution

PxReal restitution

restitution parameter for determining additional "bounce"

Restitution coefficient.

Referenced by PxJointLimitParameters::isValid().

◆ solveHint

PxU16 solveHint

constraint optimization hint, should be an element of PxConstraintSolveHint

◆ spring

◆ stiffness

◆ velocityTarget

PxReal velocityTarget

velocity target for the constraint along this axis

◆ velocityThreshold

PxReal velocityThreshold

minimum impact velocity for bounce