Px1DConstraint Struct Reference
[Physics]

A constraint. More...

#include <PxConstraintDesc.h>

Collaboration diagram for Px1DConstraint:

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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

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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.

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Member Data Documentation

PxVec3 Px1DConstraint::angular0

PxVec3 Px1DConstraint::angular1

PxReal Px1DConstraint::damping

Px1DConstraintFlags Px1DConstraint::flags

PxReal Px1DConstraint::geometricError

PxVec3 Px1DConstraint::linear0

PxVec3 Px1DConstraint::linear1

PxReal Px1DConstraint::maxImpulse

PxReal Px1DConstraint::minImpulse

PxReal Px1DConstraint::restitution

PxU16 Px1DConstraint::solveGroup

PxReal Px1DConstraint::spring

PxReal Px1DConstraint::velocityTarget

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

• PxConstraintDesc.h