PhysX SDK 3.2 API Reference: Px1DConstraint Struct Reference

PhysX SDK 3.2 API

Px1DConstraint Struct Reference
[Physics]

A constraint. More...

#include <PxConstraintDesc.h>

Collaboration diagram for Px1DConstraint:

List of all members.


Public Attributes

PxVec3 linear0
PxReal geometricError
PxVec3 angular0
PxReal velocityTarget
PxVec3 linear1
PxReal minImpulse
PxVec3 angular1
PxReal maxImpulse
PxReal spring
PxReal damping
PxReal restitution
Px1DConstraintFlags flags
PxU16 solveGroup

Detailed Description

A constraint.

A constraint is expressed as a set of 1-dimensional constraint rows which define the required constraint on the objects' velocities.

Given these definitions, the solver attempts to generate

1. a set of velocities for the objects which, when integrated, respect the constraint errors: body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1) + (geometricError / timestep) = velocityTarget

2. a set of velocities for the objects which respect the constraints: body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1) = velocityTarget

Alternatively, the solver can attempt to resolve the velocity constraint as an implicit spring:

F = spring * -geometricError + damping * (velocityTarget - body0vel.dot(lin0,ang0) + body1vel.dot(lin1, ang1))

where F is the constraint force, or as an acceleration spring where acceleration replaces force.


Member Data Documentation


The documentation for this struct was generated from the following file:



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