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<a href="PxSolverDefs_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#ifndef PX_SOLVER_DEFS_H</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#define PX_SOLVER_DEFS_H</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include "<a class="code" href="PxVec3_8h.html">foundation/PxVec3.h</a>"</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include "<a class="code" href="PxMat33_8h.html">foundation/PxMat33.h</a>"</span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include "<a class="code" href="PxTransform_8h.html">foundation/PxTransform.h</a>"</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "<a class="code" href="PxConstraintDesc_8h.html">PxConstraintDesc.h</a>"</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "<a class="code" href="GuContactPoint_8h.html">geomutils/GuContactPoint.h</a>"</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#if PX_VC</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#pragma warning(push)</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#pragma warning(disable : 4324) // structure was padded due to alignment</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="namespaceDy.html"> 52</a></span> <span class="keyword">namespace </span><a class="code" href="namespaceDy.html">Dy</a></div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> {</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61"> 54</a></span>  <span class="keyword">class </span>ArticulationV;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">typedef</span> <span class="keywordtype">size_t</span> <a class="code" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">ArticulationLinkHandle</a>; </div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> }</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="namespaceSc.html"> 58</a></span> <span class="keyword">namespace </span><a class="code" href="namespaceSc.html">Sc</a></div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> {</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">class </span>ShapeInteraction;</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> }</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structPxSolverBody.html"> 63</a></span> <span class="keyword">struct </span><a class="code" href="structPxSolverBody.html">PxSolverBody</a></div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> {</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="classPxVec3.html">PxVec3</a>) linearVelocity; </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structPxSolverBody.html#a94d862d029f4dba6de658d2b84b6affc"> 66</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverBody.html#a94d862d029f4dba6de658d2b84b6affc">maxSolverNormalProgress</a>; </div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structPxSolverBody.html#a2e3b0fc4b9097cb2ded8aec5120299ec"> 67</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverBody.html#a2e3b0fc4b9097cb2ded8aec5120299ec">maxSolverFrictionProgress</a>; </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structPxSolverBody.html#ab9c0a75f4b85920be4852c53c4ed2799"> 69</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxSolverBody.html#ab9c0a75f4b85920be4852c53c4ed2799">angularState</a>; </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structPxSolverBody.html#abe151efeabf33d524e5589fc9897fbd7"> 71</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverBody.html#abe151efeabf33d524e5589fc9897fbd7">solverProgress</a>; </div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structPxSolverBody.html#afa5845fa664df156d2a25300ea00593e"> 73</a></span>  <a class="code" href="structPxSolverBody.html#afa5845fa664df156d2a25300ea00593e">PxSolverBody</a>() : linearVelocity(0.f), maxSolverNormalProgress(0), maxSolverFrictionProgress(0), angularState(0), solverProgress(0)</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  {</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> };</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <a class="code" href="PxSolverDefs_8h.html#a0b777f57ee7373fc869734591a7d1ba5">PX_COMPILE_TIME_ASSERT</a>(<span class="keyword">sizeof</span>(<a class="code" href="structPxSolverBody.html">PxSolverBody</a>) == 32);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html"> 80</a></span> <span class="keyword">struct </span><a class="code" href="structPxSolverBodyData.html">PxSolverBodyData</a></div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> {</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="classPxVec3.html">PxVec3</a> linearVelocity); </div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#a668762cdcd8004c19e033952be2206b6"> 83</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverBodyData.html#a668762cdcd8004c19e033952be2206b6">invMass</a>; </div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#a2ab7bc060f7946ae4f3bb1da17018326"> 84</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxSolverBodyData.html#a2ab7bc060f7946ae4f3bb1da17018326">angularVelocity</a>; </div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#a74e634af20acbf0a37246a5ec44f2248"> 85</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverBodyData.html#a74e634af20acbf0a37246a5ec44f2248">reportThreshold</a>; </div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#aeaab06a3dfac94c9ccde5e40f966f8af"> 86</a></span>  <a class="code" href="classPxMat33.html">PxMat33</a> <a class="code" href="structPxSolverBodyData.html#aeaab06a3dfac94c9ccde5e40f966f8af">sqrtInvInertia</a>; </div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#ade2d671c9125af9907938a425f6b9af2"> 87</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverBodyData.html#ade2d671c9125af9907938a425f6b9af2">penBiasClamp</a>; </div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#ac01024b5307ea57e79c7891d89906296"> 88</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverBodyData.html#ac01024b5307ea57e79c7891d89906296">nodeIndex</a>; </div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#ac974d6181623739bdc087b02c1dd311b"> 89</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverBodyData.html#ac974d6181623739bdc087b02c1dd311b">maxContactImpulse</a>; </div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#a1d32e78a191473936a6693b40185ad91"> 90</a></span>  <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxSolverBodyData.html#a1d32e78a191473936a6693b40185ad91">body2World</a>; </div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#a1a9709cbcf35df7551b23ff63b40a415"> 91</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverBodyData.html#a1a9709cbcf35df7551b23ff63b40a415">lockFlags</a>; </div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#aa406db65fc9a3a26764ffb91dbbad1b7"> 92</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverBodyData.html#aa406db65fc9a3a26764ffb91dbbad1b7">pad</a>; </div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structPxSolverBodyData.html#aa443999488f683690658da520f1726c9"> 94</a></span>  <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverBodyData.html#aa443999488f683690658da520f1726c9">projectVelocity</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& lin, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& ang)<span class="keyword"> const</span></div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">return</span> linearVelocity.<a class="code" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">dot</a>(lin) + angularVelocity.<a class="code" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">dot</a>(ang);</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> };</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment">//----------------------------------</span></div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment">/*</span></div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment">* A header that defines the size of a specific batch of constraints (of same type and without dependencies)</span></div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment">*/</span></div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structPxConstraintBatchHeader.html"> 104</a></span> <span class="keyword">struct </span><a class="code" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a></div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> {</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structPxConstraintBatchHeader.html#a0e1adca3a7c26418d6a2187344f3c190"> 106</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxConstraintBatchHeader.html#a0e1adca3a7c26418d6a2187344f3c190">startIndex</a>; </div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structPxConstraintBatchHeader.html#af3e119909cbd4a66eaf870b0b4d9caa6"> 107</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxConstraintBatchHeader.html#af3e119909cbd4a66eaf870b0b4d9caa6">stride</a>; </div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="structPxConstraintBatchHeader.html#aebd891a396f7b1a48f387141d7998c04"> 108</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxConstraintBatchHeader.html#aebd891a396f7b1a48f387141d7998c04">constraintType</a>; </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span> };</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html"> 111</a></span> <span class="keyword">struct </span><a class="code" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a></div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> {</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a87d502cd319544604669cb843a239fb0"> 113</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> NO_LINK = 0xffff;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150"> 115</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150">ConstraintType</a></div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  {</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150af07aa2676bc3a0f445124a369d76178d"> 117</a></span>  <a class="code" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150af07aa2676bc3a0f445124a369d76178d">eCONTACT_CONSTRAINT</a>, </div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150a964367059d7c0c8b31ee93cd614a1aac"> 118</a></span>  eJOINT_CONSTRAINT </div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  };</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">union</span></div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  {</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a917f6a5b6829c4c6f8f44182628e4e2e"> 123</a></span>  <a class="code" href="structPxSolverBody.html">PxSolverBody</a>* <a class="code" href="structPxSolverConstraintDesc.html#a917f6a5b6829c4c6f8f44182628e4e2e">bodyA</a>; </div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a4e75c52e5f71af359af9b62c3f709564"> 124</a></span>  <a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a>* <a class="code" href="structPxSolverConstraintDesc.html#a4e75c52e5f71af359af9b62c3f709564">tgsBodyA</a>; </div><div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a591b8d338b0e9932d67f405542776065"> 125</a></span>  Dy::ArticulationV* <a class="code" href="structPxSolverConstraintDesc.html#a591b8d338b0e9932d67f405542776065">articulationA</a>; </div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  };</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keyword">union</span></div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  {</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a6144adf5b9396847a54da7d7c17a770f"> 131</a></span>  <a class="code" href="structPxSolverBody.html">PxSolverBody</a>* <a class="code" href="structPxSolverConstraintDesc.html#a6144adf5b9396847a54da7d7c17a770f">bodyB</a>; </div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a25fc01cac6b0554cac348a5c47430dc0"> 132</a></span>  <a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a>* <a class="code" href="structPxSolverConstraintDesc.html#a25fc01cac6b0554cac348a5c47430dc0">tgsBodyB</a>; </div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a1452b23eaf124e9740f26e4bb98477ca"> 133</a></span>  Dy::ArticulationV* <a class="code" href="structPxSolverConstraintDesc.html#a1452b23eaf124e9740f26e4bb98477ca">articulationB</a>; </div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  };</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#ab7d352db61fd0a031d9574a4322e629d"> 135</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverConstraintDesc.html#ab7d352db61fd0a031d9574a4322e629d">linkIndexA</a>; </div><div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a833220f6cf3fef57bee54a4cfaa81049"> 136</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverConstraintDesc.html#a833220f6cf3fef57bee54a4cfaa81049">linkIndexB</a>; </div><div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a75d8cc26a512bd1e1a1e1a965decfa83"> 137</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverConstraintDesc.html#a75d8cc26a512bd1e1a1e1a965decfa83">bodyADataIndex</a>; </div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a0e7c10b35dcc40b914857957fa64beb2"> 138</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverConstraintDesc.html#a0e7c10b35dcc40b914857957fa64beb2">bodyBDataIndex</a>; </div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#aaa77283c5efaa8f2b11611881729e8b8"> 139</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverConstraintDesc.html#aaa77283c5efaa8f2b11611881729e8b8">writeBackLengthOver4</a>; </div><div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a417fed9862da2ced60f98353fea74ace"> 140</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverConstraintDesc.html#a417fed9862da2ced60f98353fea74ace">constraintLengthOver16</a>; </div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#a7a577215addd09b9e092aae536157161"> 141</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>* <a class="code" href="structPxSolverConstraintDesc.html#a7a577215addd09b9e092aae536157161">constraint</a>; </div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structPxSolverConstraintDesc.html#ae9b299864d3b98e18fcfc6a089bb7f79"> 142</a></span>  <span class="keywordtype">void</span>* <a class="code" href="structPxSolverConstraintDesc.html#ae9b299864d3b98e18fcfc6a089bb7f79">writeBack</a>; </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> };</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div><div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html"> 145</a></span> <span class="keyword">struct </span><a class="code" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span> {</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f"> 147</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a></div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  {</div><div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa6f030c0742671e6fe38c87ff48eba4ca"> 149</a></span>  eDYNAMIC_BODY = 1 << 0,</div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa558ab36462aa417f686f03eabf3db6b3"> 150</a></span>  eSTATIC_BODY = 1 << 1,</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa60a5b498ccb90a2f703fb277b7784807"> 151</a></span>  eKINEMATIC_BODY = 1 << 2,</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa55d8f5d447451c19b05290583597ce1c"> 152</a></span>  eARTICULATION = 1 << 3</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  };</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188"> 155</a></span>  <a class="code" href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a> <a class="code" href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188">invMassScales</a>; </div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div><div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab"> 157</a></span>  <a class="code" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a>* <a class="code" href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab">desc</a>; </div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870"> 159</a></span>  <span class="keyword">const</span> <a class="code" href="structPxSolverBody.html">PxSolverBody</a>* <a class="code" href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870">body0</a>; </div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c"> 160</a></span>  <span class="keyword">const</span> <a class="code" href="structPxSolverBody.html">PxSolverBody</a>* <a class="code" href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c">body1</a>; </div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div><div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10"> 162</a></span>  <span class="keyword">const</span> <a class="code" href="structPxSolverBodyData.html">PxSolverBodyData</a>* <a class="code" href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10">data0</a>; </div><div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d"> 163</a></span>  <span class="keyword">const</span> <a class="code" href="structPxSolverBodyData.html">PxSolverBodyData</a>* <a class="code" href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d">data1</a>; </div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3"> 165</a></span>  <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3">bodyFrame0</a>; </div><div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819"> 166</a></span>  <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819">bodyFrame1</a>; </div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e"> 168</a></span>  <a class="code" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a> <a class="code" href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e">bodyState0</a>; </div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3"> 169</a></span>  <a class="code" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a> <a class="code" href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3">bodyState1</a>; </div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> };</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html"> 172</a></span> <span class="keyword">struct </span><a class="code" href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a> : <span class="keyword">public</span> <a class="code" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> {</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="structPx1DConstraint.html">Px1DConstraint</a>* rows); </div><div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#a70cd18a2d279f25baab00ef7838dec16"> 175</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverConstraintPrepDesc.html#a70cd18a2d279f25baab00ef7838dec16">numRows</a>; </div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span> </div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#afb5f4b0d0b54dffbe066d8f9471474a3"> 177</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverConstraintPrepDesc.html#afb5f4b0d0b54dffbe066d8f9471474a3">linBreakForce</a>, angBreakForce; </div><div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#a3988b4c1ee2db31ae8fb427bef2021c1"> 178</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverConstraintPrepDesc.html#a3988b4c1ee2db31ae8fb427bef2021c1">minResponseThreshold</a>; </div><div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#afcacb0bfb6ee3e939bade4d49e5ef4b0"> 179</a></span>  <span class="keywordtype">void</span>* <a class="code" href="structPxSolverConstraintPrepDesc.html#afcacb0bfb6ee3e939bade4d49e5ef4b0">writeback</a>; </div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#a7577dd31e280ee90740c321d452f88a9"> 180</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverConstraintPrepDesc.html#a7577dd31e280ee90740c321d452f88a9">disablePreprocessing</a>; </div><div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#a3b7d111854e74252e892765ac4a3b3ad"> 181</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverConstraintPrepDesc.html#a3b7d111854e74252e892765ac4a3b3ad">improvedSlerp</a>; </div><div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#addb6a6a2962b8ce47ff7bf53db6f7759"> 182</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverConstraintPrepDesc.html#addb6a6a2962b8ce47ff7bf53db6f7759">driveLimitsAreForces</a>; </div><div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#a7dd4e0d49745651ea820b9ab93ff12c5"> 183</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverConstraintPrepDesc.html#a7dd4e0d49745651ea820b9ab93ff12c5">extendedLimits</a>; </div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div><div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="structPxSolverConstraintPrepDesc.html#a3a5cece8fd2221a2d154c2ca2398cf48"> 185</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxSolverConstraintPrepDesc.html#a3a5cece8fd2221a2d154c2ca2398cf48">body0WorldOffset</a>; </div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> };</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div><div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html"> 188</a></span> <span class="keyword">struct </span><a class="code" href="structPxSolverContactDesc.html">PxSolverContactDesc</a> : <span class="keyword">public</span> <a class="code" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> {</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, Sc::ShapeInteraction* shapeInteraction); </div><div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#ac98be485f0d333ed55a1dae735286964"> 191</a></span>  Gu::ContactPoint* <a class="code" href="structPxSolverContactDesc.html#ac98be485f0d333ed55a1dae735286964">contacts</a>; </div><div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#ae2a5692ebc3c99c68ac34828d15ef56d"> 192</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverContactDesc.html#ae2a5692ebc3c99c68ac34828d15ef56d">numContacts</a>; </div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div><div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#ac19bc948958e2f2de3ca214afad28b11"> 194</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverContactDesc.html#ac19bc948958e2f2de3ca214afad28b11">hasMaxImpulse</a>; </div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a7d0a19a4752992c482bc7c5d9e315927"> 195</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverContactDesc.html#a7d0a19a4752992c482bc7c5d9e315927">disableStrongFriction</a>; </div><div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#ae2e4ab03c648da3de0754b5bb20470af"> 196</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxSolverContactDesc.html#ae2e4ab03c648da3de0754b5bb20470af">hasForceThresholds</a>; </div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div><div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a1b01af74e18c8ce096fdd19b29fe9937"> 198</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverContactDesc.html#a1b01af74e18c8ce096fdd19b29fe9937">restDistance</a>; </div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a6dc38af5607703cc2fde5736f7e0ec66"> 199</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxSolverContactDesc.html#a6dc38af5607703cc2fde5736f7e0ec66">maxCCDSeparation</a>; </div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div><div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#aecb81b31ea78f95b634eecdc4ff787e9"> 201</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>* <a class="code" href="structPxSolverContactDesc.html#aecb81b31ea78f95b634eecdc4ff787e9">frictionPtr</a>; </div><div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a26750cbe3e1f0b674678aa8354f46660"> 202</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a> <a class="code" href="structPxSolverContactDesc.html#a26750cbe3e1f0b674678aa8354f46660">frictionCount</a>; </div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div><div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a771ea901376db925ed46a6b59d3f9660"> 204</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="structPxSolverContactDesc.html#a771ea901376db925ed46a6b59d3f9660">contactForces</a>; </div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div><div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#afaeb10971f33613461d2c6cf1c2804fa"> 206</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverContactDesc.html#afaeb10971f33613461d2c6cf1c2804fa">startFrictionPatchIndex</a>; </div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#ada1b86bf21e1dd614e7e4a07a9c990dd"> 207</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverContactDesc.html#ada1b86bf21e1dd614e7e4a07a9c990dd">numFrictionPatches</a>; </div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div><div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a79971a484d887112079ba3f980e9b0e0"> 209</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxSolverContactDesc.html#a79971a484d887112079ba3f980e9b0e0">startContactPatchIndex</a>; </div><div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a2261ea42204894094ada177641222c9a"> 210</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverContactDesc.html#a2261ea42204894094ada177641222c9a">numContactPatches</a>; </div><div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a5b54a6acfb85192b99f71bc9a72d2c1a"> 211</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxSolverContactDesc.html#a5b54a6acfb85192b99f71bc9a72d2c1a">axisConstraintCount</a>; </div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div><div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="structPxSolverContactDesc.html#a1dd628330696744829667e0c883ed7be"> 213</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a> pad[16 - <span class="keyword">sizeof</span>(<span class="keywordtype">void</span>*)];</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span> };</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div><div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classPxConstraintAllocator.html"> 216</a></span> <span class="keyword">class </span><a class="code" href="classPxConstraintAllocator.html">PxConstraintAllocator</a></div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> {</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>* reserveConstraintData(<span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> byteSize) = 0;</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>* reserveFrictionData(<span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> byteSize) = 0;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div><div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classPxConstraintAllocator.html#a28446a3d69923bc834d8c80938ff18be"> 234</a></span>  <span class="keyword">virtual</span> <a class="code" href="classPxConstraintAllocator.html#a28446a3d69923bc834d8c80938ff18be">~PxConstraintAllocator</a>() {}</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span> };</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html"> 237</a></span> <span class="keyword">struct </span><a class="code" href="structPxArticulationAxis.html">PxArticulationAxis</a></div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span> {</div><div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395"> 239</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395">Enum</a></div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  {</div><div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a380a97841323f13390ef6cdc57f6265d"> 241</a></span>  eTWIST = 0,</div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a2e1a274c036f8b7846476dbfe2015fec"> 242</a></span>  eSWING1 = 1,</div><div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a33f154c8d454ab3f08f03f512cc03972"> 243</a></span>  eSWING2 = 2,</div><div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a83f4dcfb4a4a87644225475a9e16c67e"> 244</a></span>  eX = 3,</div><div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a582892dc65379497febf0d6c08dddc02"> 245</a></span>  eY = 4,</div><div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a70a41042911d91bf76f507000adc09a4"> 246</a></span>  eZ = 5,</div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a09384f4a095731741d93530048614de7"> 247</a></span>  eCOUNT = 6</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  };</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span> };</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> </div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> PX_FLAGS_OPERATORS(<a class="code" href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395">PxArticulationAxis::Enum</a>, <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>)</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div><div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="structPxArticulationMotion.html"> 253</a></span> struct <a class="code" href="structPxArticulationMotion.html">PxArticulationMotion</a></div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> {</div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879"> 255</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879">Enum</a></div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  {</div><div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879af640457f343a3cd57412d5aedf2b6808"> 257</a></span>  eLOCKED = 0,</div><div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879a93e73f43c42672207a2abf9904d47a50"> 258</a></span>  eLIMITED = 1,</div><div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879aa856908c1ad1720774753eee4ef7acae"> 259</a></span>  eFREE = 2</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  };</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span> };</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div><div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="PxSolverDefs_8h.html#a4d2907efdef5e5b7b1becd1ab59c2405"> 263</a></span> <span class="keyword">typedef</span> <a class="code" href="classPxFlags.html">PxFlags<PxArticulationMotion::Enum, PxU8></a> <a class="code" href="PxSolverDefs_8h.html#a4d2907efdef5e5b7b1becd1ab59c2405">PxArticulationMotions</a>;</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span> PX_FLAGS_OPERATORS(<a class="code" href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879">PxArticulationMotion::Enum</a>, <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>)</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div><div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html"> 266</a></span> struct <a class="code" href="structPxArticulationJointType.html">PxArticulationJointType</a></div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span> {</div><div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0b"> 268</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0b">Enum</a></div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  {</div><div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0ba3a5aad862ed0a4ad0ce289d55ce08531"> 270</a></span>  eFIX = 0,</div><div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0ba20eb6c657a0b29898c2ab308b2e68ba3"> 271</a></span>  ePRISMATIC = 1,</div><div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0ba9bb388357d6c57179a26508f00e7d2c7"> 272</a></span>  eREVOLUTE = 2,</div><div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0ba6e0b21355b6023f41e8e5be799feee91"> 273</a></span>  eSPHERICAL = 3,</div><div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0baa3b41bcb6b6b318f64d2dfb3073f277e"> 274</a></span>  eUNDEFINED = 4</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  };</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span> };</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span> </div><div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="structPxArticulationFlag.html"> 278</a></span> <span class="keyword">struct </span><a class="code" href="structPxArticulationFlag.html">PxArticulationFlag</a></div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span> {</div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609"> 280</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">Enum</a></div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  {</div><div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609a625f41920c4a20ea5317fdc939a74674"> 282</a></span>  eFIX_BASE = (1 << 0),</div><div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609a0bc0b9ec065971fd2708868f819f27d5"> 283</a></span>  eDRIVE_LIMITS_ARE_FORCES = (1<<1)</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  };</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span> };</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div><div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a"> 287</a></span> <span class="keyword">typedef</span> <a class="code" href="classPxFlags.html">PxFlags<PxArticulationFlag::Enum, PxU8></a> <a class="code" href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a">PxArticulationFlags</a>;</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span> PX_FLAGS_OPERATORS(<a class="code" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">PxArticulationFlag::Enum</a>, <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>)</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div><div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html"> 290</a></span> struct <a class="code" href="structPxArticulationDriveType.html">PxArticulationDriveType</a></div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span> {</div><div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66"> 292</a></span>  <span class="keyword">enum</span> <a class="code" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66">Enum</a></div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  {</div><div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66a05c2a66b7f4f1cbaa672ee7f0934d698"> 294</a></span>  eFORCE = 0,</div><div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66a3d9a932de20659705c6bd00027f06111"> 295</a></span>  eACCELERATION = 1,</div><div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66a23e638128e210cafb190ebc3b74b946c"> 296</a></span>  eTARGET = 2,</div><div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66a251a5fda8faa00b14528a841e481c38b"> 297</a></span>  eVELOCITY = 3,</div><div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66a3fda091699a60c74bfb7f1999cd47c1a"> 298</a></span>  eNONE = 4</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  };</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span> };</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span> </div><div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="structPxArticulationLimit.html"> 302</a></span> <span class="keyword">struct </span><a class="code" href="structPxArticulationLimit.html">PxArticulationLimit</a></div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span> {</div><div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="structPxArticulationLimit.html#aaa1c11208757637eac126a3bce749b67"> 304</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxArticulationLimit.html#aaa1c11208757637eac126a3bce749b67">low</a>, high;</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span> };</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div><div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="structPxArticulationDrive.html"> 307</a></span> <span class="keyword">struct </span><a class="code" href="structPxArticulationDrive.html">PxArticulationDrive</a></div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span> {</div><div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="structPxArticulationDrive.html#aa107d1e20be5cc2bc08717add5e4d0f2"> 309</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxArticulationDrive.html#aa107d1e20be5cc2bc08717add5e4d0f2">stiffness</a>, <a class="code" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>, maxForce;</div><div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="structPxArticulationDrive.html#a4f2bb568cb4dece9d9b01e4affb1615d"> 310</a></span>  <a class="code" href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66">PxArticulationDriveType::Enum</a> <a class="code" href="structPxArticulationDrive.html#a4f2bb568cb4dece9d9b01e4affb1615d">driveType</a>;</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span> };</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span> </div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span> </div><div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html"> 314</a></span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a></div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span> {</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="classPxVec3.html">PxVec3</a>) linearVelocity; <span class="comment">//12</span></div><div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a024740f7b599adb152a938b55c153709"> 317</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxTGSSolverBodyVel.html#a024740f7b599adb152a938b55c153709">nbStaticInteractions</a>; <span class="comment">//14 Used to accumulate the number of static interactions</span></div><div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a1f1ac6c09e0d09bf84cfa4d0e88facee"> 318</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxTGSSolverBodyVel.html#a1f1ac6c09e0d09bf84cfa4d0e88facee">maxDynamicPartition</a>; <span class="comment">//16 Used to accumualte the max partition of dynamic interactions</span></div><div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a62180b6a25deacd6454c72f0680b3349"> 319</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverBodyVel.html#a62180b6a25deacd6454c72f0680b3349">angularVelocity</a>; <span class="comment">//28</span></div><div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a270fce74ffe1dc2d2207fd709b9fb2cd"> 320</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverBodyVel.html#a270fce74ffe1dc2d2207fd709b9fb2cd">partitionMask</a>; <span class="comment">//32 Used in partitioning as a bit-field</span></div><div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a0f8a1cde9ca85bff8d8c95a444502128"> 321</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverBodyVel.html#a0f8a1cde9ca85bff8d8c95a444502128">deltaAngDt</a>; <span class="comment">//44</span></div><div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a96df4104c19d116c22bc0279975a16b2"> 322</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyVel.html#a96df4104c19d116c22bc0279975a16b2">maxAngVel</a>; <span class="comment">//48</span></div><div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a863ba941fa369400c70692b7fa7b57e6"> 323</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverBodyVel.html#a863ba941fa369400c70692b7fa7b57e6">deltaLinDt</a>; <span class="comment">//60</span></div><div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a396aa6ce5758b19d81a4860fa67065db"> 324</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxTGSSolverBodyVel.html#a396aa6ce5758b19d81a4860fa67065db">lockFlags</a>; <span class="comment">//62</span></div><div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a661c068fee9d0d69310f061791cc1a31"> 325</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverBodyVel.html#a661c068fee9d0d69310f061791cc1a31">isKinematic</a>; <span class="comment">//63</span></div><div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a143884acc4bdc567626be91653ed861f"> 326</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a> <a class="code" href="structPxTGSSolverBodyVel.html#a143884acc4bdc567626be91653ed861f">pad</a>; <span class="comment">//64</span></div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span> </div><div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyVel.html#a24e2c2e70799b612afe971b20a3daf56"> 328</a></span>  <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyVel.html#a24e2c2e70799b612afe971b20a3daf56">projectVelocity</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& lin, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& ang)<span class="keyword"> const</span></div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordflow">return</span> linearVelocity.dot(lin) + angularVelocity.<a class="code" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">dot</a>(ang);</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  }</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span> };</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span> </div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment">//Needed only by prep, integration and 1D constraints</span></div><div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyTxInertia.html"> 336</a></span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a></div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span> {</div><div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyTxInertia.html#aaa47dd8511fb2b56f1d285b5ba45f118"> 338</a></span>  <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxTGSSolverBodyTxInertia.html#aaa47dd8511fb2b56f1d285b5ba45f118">deltaBody2World</a>;</div><div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyTxInertia.html#af71f4198dd9c487461a3302c6784ea6f"> 339</a></span>  <a class="code" href="classPxMat33.html">PxMat33</a> <a class="code" href="structPxTGSSolverBodyTxInertia.html#af71f4198dd9c487461a3302c6784ea6f">sqrtInvInertia</a>;</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span> };</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span> </div><div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html"> 342</a></span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a></div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span> {</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="classPxVec3.html">PxVec3</a>) originalLinearVelocity;</div><div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#a3e0265b810f968f1ad0ef6442586d6ec"> 345</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyData.html#a3e0265b810f968f1ad0ef6442586d6ec">maxContactImpulse</a>;</div><div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#adcfb898a3284a280700296191ac1ac45"> 346</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverBodyData.html#adcfb898a3284a280700296191ac1ac45">originalAngularVelocity</a>;</div><div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#a7b17688352d179df4698a1caf0327c76"> 347</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyData.html#a7b17688352d179df4698a1caf0327c76">penBiasClamp</a>;</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div><div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#aef16d81dc691549d6b58f2118406dd2f"> 349</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyData.html#aef16d81dc691549d6b58f2118406dd2f">invMass</a>;</div><div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#a4fced225135ff28142c1dbb8281b74a8"> 350</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverBodyData.html#a4fced225135ff28142c1dbb8281b74a8">nodeIndex</a>;</div><div class="line"><a name="l00351"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#a6486d9b8c5fe602b22cba2f77fc97a5f"> 351</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyData.html#a6486d9b8c5fe602b22cba2f77fc97a5f">reportThreshold</a>;</div><div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#adf8bec50408d2405fbf2372b13390572"> 352</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverBodyData.html#adf8bec50408d2405fbf2372b13390572">pad</a>;</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span> </div><div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="structPxTGSSolverBodyData.html#a8c36cfdf8537f4d1109466c8ad65b57c"> 354</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverBodyData.html#a8c36cfdf8537f4d1109466c8ad65b57c">projectVelocity</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& <a class="code" href="PxArticulationReducedCoordinate_8h.html#a840381307a4813334fba199be4bbcbf3">linear</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& <a class="code" href="PxArticulationReducedCoordinate_8h.html#a9603c86a5d2d0bff969100f99e404753">angular</a>)<span class="keyword"> const</span></div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="keywordflow">return</span> originalLinearVelocity.dot(<a class="code" href="PxArticulationReducedCoordinate_8h.html#a840381307a4813334fba199be4bbcbf3">linear</a>) + originalAngularVelocity.<a class="code" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">dot</a>(<a class="code" href="PxArticulationReducedCoordinate_8h.html#a9603c86a5d2d0bff969100f99e404753">angular</a>);</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  }</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span> };</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span> </div><div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html"> 360</a></span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverConstraintPrepDescBase.html">PxTGSSolverConstraintPrepDescBase</a></div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span> {</div><div class="line"><a name="l00362"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#aae266269124532f1dee273c75209d9fb"> 362</a></span>  <a class="code" href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#aae266269124532f1dee273c75209d9fb">invMassScales</a>; </div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span> </div><div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a6a53ca0ea9f69a6581f2b44ed1ea8aa4"> 364</a></span>  <a class="code" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a>* <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a6a53ca0ea9f69a6581f2b44ed1ea8aa4">desc</a>; </div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div><div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a1b333a2fea69f88f1c11c9f812052e0f"> 366</a></span>  <span class="keyword">const</span> <a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a>* <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a1b333a2fea69f88f1c11c9f812052e0f">body0</a>; </div><div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#ac428634b273386f0edf5e17ea3fd0049"> 367</a></span>  <span class="keyword">const</span> <a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *<a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#ac428634b273386f0edf5e17ea3fd0049">body1</a>; </div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div><div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a51d8370090983c269966739e14979e4a"> 369</a></span>  <span class="keyword">const</span> <a class="code" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a>* <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a51d8370090983c269966739e14979e4a">body0TxI</a>;</div><div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#abf87509917d688f2296b3e4ca1883bc2"> 370</a></span>  <span class="keyword">const</span> <a class="code" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a>* <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#abf87509917d688f2296b3e4ca1883bc2">body1TxI</a>;</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span> </div><div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a1bf247709055aaa9e9c702d76de6c866"> 372</a></span>  <span class="keyword">const</span> <a class="code" href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a>* <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a1bf247709055aaa9e9c702d76de6c866">bodyData0</a>;</div><div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a93cdc318c9c74323988c5204870b6733"> 373</a></span>  <span class="keyword">const</span> <a class="code" href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a>* <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a93cdc318c9c74323988c5204870b6733">bodyData1</a>;</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div><div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#aeba37ba193902e0141dc9cd4d6cacaf2"> 375</a></span>  <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#aeba37ba193902e0141dc9cd4d6cacaf2">bodyFrame0</a>; </div><div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a6a22f7cd3293b9877ec97560b1862e8c"> 376</a></span>  <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a6a22f7cd3293b9877ec97560b1862e8c">bodyFrame1</a>; </div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span> </div><div class="line"><a name="l00378"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a661a0d94ab747d3f6e71deb44179f74a"> 378</a></span>  <a class="code" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">PxSolverContactDesc::BodyState</a> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a661a0d94ab747d3f6e71deb44179f74a">bodyState0</a>; </div><div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDescBase.html#a00e4ad46100575375c9fcddd86a166b3"> 379</a></span>  <a class="code" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">PxSolverContactDesc::BodyState</a> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html#a00e4ad46100575375c9fcddd86a166b3">bodyState1</a>; </div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span> </div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span> };</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span> </div><div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html"> 383</a></span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a> : <span class="keyword">public</span> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html">PxTGSSolverConstraintPrepDescBase</a></div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span> {</div><div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a6d22cbffa472183363fdb9b38400db09"> 385</a></span>  <a class="code" href="structPx1DConstraint.html">Px1DConstraint</a>* <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a6d22cbffa472183363fdb9b38400db09">rows</a>; </div><div class="line"><a name="l00386"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a6fa8f15b3d25c668667d45ab0493d637"> 386</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a6fa8f15b3d25c668667d45ab0493d637">numRows</a>; </div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span> </div><div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a2e6f1bfe2c789007a302b614b730daaa"> 388</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a2e6f1bfe2c789007a302b614b730daaa">linBreakForce</a>, angBreakForce; </div><div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#abb4e61b97d7c31cda50f046a6997905b"> 389</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#abb4e61b97d7c31cda50f046a6997905b">minResponseThreshold</a>; </div><div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a4e898ee147ebd910c17f972b36469c2f"> 390</a></span>  <span class="keywordtype">void</span>* <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a4e898ee147ebd910c17f972b36469c2f">writeback</a>; </div><div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#ac90d6c44134ff6338c99f129334f877b"> 391</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#ac90d6c44134ff6338c99f129334f877b">disablePreprocessing</a>; </div><div class="line"><a name="l00392"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a16112a28791d053030749d7a16dba358"> 392</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a16112a28791d053030749d7a16dba358">improvedSlerp</a>; </div><div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a40bead37a891a1e5bdac959256e7f1bc"> 393</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a40bead37a891a1e5bdac959256e7f1bc">driveLimitsAreForces</a>; </div><div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#ab0a996ed090bea6630a56bc00a4637d3"> 394</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#ab0a996ed090bea6630a56bc00a4637d3">extendedLimits</a>; </div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span> </div><div class="line"><a name="l00396"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a0cdbc868a9696b9cf91225391b355d5f"> 396</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a0cdbc868a9696b9cf91225391b355d5f">body0WorldOffset</a>; </div><div class="line"><a name="l00397"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a35c2833954aa8eabdf9d2ee67e973130"> 397</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a35c2833954aa8eabdf9d2ee67e973130">cA2w</a>; </div><div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="structPxTGSSolverConstraintPrepDesc.html#a01424750f4140ed60797167cf6e4162f"> 398</a></span>  <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxTGSSolverConstraintPrepDesc.html#a01424750f4140ed60797167cf6e4162f">cB2w</a>; </div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span> };</div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span> </div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div><div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html"> 402</a></span> <span class="keyword">struct </span><a class="code" href="structPxTGSSolverContactDesc.html">PxTGSSolverContactDesc</a> : <span class="keyword">public</span> <a class="code" href="structPxTGSSolverConstraintPrepDescBase.html">PxTGSSolverConstraintPrepDescBase</a></div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> {</div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div><div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a2b7236819f8aacbc20f5d68596ec37ec"> 405</a></span>  Sc::ShapeInteraction* <a class="code" href="structPxTGSSolverContactDesc.html#a2b7236819f8aacbc20f5d68596ec37ec">shapeInteraction</a>; </div><div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#af209e0ce9b1975ed8340b528f00df9c1"> 406</a></span>  Gu::ContactPoint* <a class="code" href="structPxTGSSolverContactDesc.html#af209e0ce9b1975ed8340b528f00df9c1">contacts</a>; </div><div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a71566924a2d0ebc51d688318309e0e7e"> 407</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverContactDesc.html#a71566924a2d0ebc51d688318309e0e7e">numContacts</a>; </div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span> </div><div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a31b779c60e6f523d3367b109a55b8498"> 409</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverContactDesc.html#a31b779c60e6f523d3367b109a55b8498">hasMaxImpulse</a>; </div><div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#ae94706f6d8851b7cfb9cfc054afe7fd2"> 410</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverContactDesc.html#ae94706f6d8851b7cfb9cfc054afe7fd2">disableStrongFriction</a>; </div><div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a42cdafb4a9c8ef0daaa1dd584b2f2bd4"> 411</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structPxTGSSolverContactDesc.html#a42cdafb4a9c8ef0daaa1dd584b2f2bd4">hasForceThresholds</a>; </div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span> </div><div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a264877eb201cfe904fbe832b94ebfccc"> 413</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverContactDesc.html#a264877eb201cfe904fbe832b94ebfccc">restDistance</a>; </div><div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a32c32515e655df204dc97163c0d8f503"> 414</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverContactDesc.html#a32c32515e655df204dc97163c0d8f503">maxCCDSeparation</a>; </div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span> </div><div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a4b1fadcb0c18263f2f7e31a1a8e9fcc1"> 416</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>* <a class="code" href="structPxTGSSolverContactDesc.html#a4b1fadcb0c18263f2f7e31a1a8e9fcc1">frictionPtr</a>; </div><div class="line"><a name="l00417"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a11c978927580e83557522429a291b1e0"> 417</a></span>  <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a> <a class="code" href="structPxTGSSolverContactDesc.html#a11c978927580e83557522429a291b1e0">frictionCount</a>; </div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span> </div><div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a2528245373f86eb6475151cff7f517c5"> 419</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="structPxTGSSolverContactDesc.html#a2528245373f86eb6475151cff7f517c5">contactForces</a>; </div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span> </div><div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#ad20755f12b4cc3e302af7353a923ae4f"> 421</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverContactDesc.html#ad20755f12b4cc3e302af7353a923ae4f">startFrictionPatchIndex</a>; </div><div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a52c82757413cf7a74fd33543be21f9bc"> 422</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverContactDesc.html#a52c82757413cf7a74fd33543be21f9bc">numFrictionPatches</a>; </div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span> </div><div class="line"><a name="l00424"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#aed207eb98917eeda2b19bdb2fe65f14e"> 424</a></span>  <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxTGSSolverContactDesc.html#aed207eb98917eeda2b19bdb2fe65f14e">startContactPatchIndex</a>; </div><div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#ad451864f355f80ff88b943b9f3ec6079"> 425</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxTGSSolverContactDesc.html#ad451864f355f80ff88b943b9f3ec6079">numContactPatches</a>; </div><div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#ac846e96c932f98fe0ade48f813c464c6"> 426</a></span>  <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> <a class="code" href="structPxTGSSolverContactDesc.html#ac846e96c932f98fe0ade48f813c464c6">axisConstraintCount</a>; </div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span> </div><div class="line"><a name="l00428"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a0ff123ce07992aa9ba795366f347aed1"> 428</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverContactDesc.html#a0ff123ce07992aa9ba795366f347aed1">maxImpulse</a>;</div><div class="line"><a name="l00429"></a><span class="lineno"> 429</span> </div><div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a9925f638d123b5636e4b3ab9d58966ff"> 430</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverContactDesc.html#a9925f638d123b5636e4b3ab9d58966ff">torsionalPatchRadius</a>;</div><div class="line"><a name="l00431"></a><span class="lineno"><a class="line" href="structPxTGSSolverContactDesc.html#a009c28b94dbb4e2bf77ee50f187924be"> 431</a></span>  <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxTGSSolverContactDesc.html#a009c28b94dbb4e2bf77ee50f187924be">minTorsionalPatchRadius</a>;</div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span> };</div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span> </div><div class="line"><a name="l00434"></a><span class="lineno"> 434</span> <span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00435"></a><span class="lineno"> 435</span> }</div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span> </div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span> <span class="preprocessor">#if PX_VC</span></div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span> <span class="preprocessor">#pragma warning(pop)</span></div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span> </div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span> </div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
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<div class="ttc" id="structPxSolverBody_html_ab9c0a75f4b85920be4852c53c4ed2799"><div class="ttname"><a href="structPxSolverBody.html#ab9c0a75f4b85920be4852c53c4ed2799">PxSolverBody::angularState</a></div><div class="ttdeci">PxVec3 angularState</div><div class="ttdoc">Delta angular velocity state computed by the solver. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:69</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a4b1fadcb0c18263f2f7e31a1a8e9fcc1"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a4b1fadcb0c18263f2f7e31a1a8e9fcc1">PxTGSSolverContactDesc::frictionPtr</a></div><div class="ttdeci">PxU8 * frictionPtr</div><div class="ttdoc">InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behavi...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:416</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_aa406db65fc9a3a26764ffb91dbbad1b7"><div class="ttname"><a href="structPxSolverBodyData.html#aa406db65fc9a3a26764ffb91dbbad1b7">PxSolverBodyData::pad</a></div><div class="ttdeci">PxU16 pad</div><div class="ttdoc">112 pad </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:92</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a4173f8c3d6662232720fdd99c9f65b9e"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e">PxSolverConstraintPrepDescBase::bodyState0</a></div><div class="ttdeci">BodyState bodyState0</div><div class="ttdoc">In: Defines what kind of actor the first body is. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:168</div></div>
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<div class="ttc" id="structPxArticulationLimit_html"><div class="ttname"><a href="structPxArticulationLimit.html">PxArticulationLimit</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:302</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_afcacb0bfb6ee3e939bade4d49e5ef4b0"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#afcacb0bfb6ee3e939bade4d49e5ef4b0">PxSolverConstraintPrepDesc::writeback</a></div><div class="ttdeci">void * writeback</div><div class="ttdoc">Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:179</div></div>
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<div class="ttc" id="namespaceDy_html_a5be4d4b78399a053941fded260b04e61"><div class="ttname"><a href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a></div><div class="ttdeci">size_t ArticulationLinkHandle</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:54</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a26750cbe3e1f0b674678aa8354f46660"><div class="ttname"><a href="structPxSolverContactDesc.html#a26750cbe3e1f0b674678aa8354f46660">PxSolverContactDesc::frictionCount</a></div><div class="ttdeci">PxU8 frictionCount</div><div class="ttdoc">The total number of friction patches in this pair. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:202</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_ada1b86bf21e1dd614e7e4a07a9c990dd"><div class="ttname"><a href="structPxSolverContactDesc.html#ada1b86bf21e1dd614e7e4a07a9c990dd">PxSolverContactDesc::numFrictionPatches</a></div><div class="ttdeci">PxU32 numFrictionPatches</div><div class="ttdoc">Total number of friction patches in this pair. Set by friction correlation. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:207</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a833220f6cf3fef57bee54a4cfaa81049"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a833220f6cf3fef57bee54a4cfaa81049">PxSolverConstraintDesc::linkIndexB</a></div><div class="ttdeci">PxU16 linkIndexB</div><div class="ttdoc">Link index defining which link in Articulation B this constraint affects. If not an articulation...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:136</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html"><div class="ttname"><a href="structPxTGSSolverContactDesc.html">PxTGSSolverContactDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:402</div></div>
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<div class="ttc" id="structPxConstraintBatchHeader_html_af3e119909cbd4a66eaf870b0b4d9caa6"><div class="ttname"><a href="structPxConstraintBatchHeader.html#af3e119909cbd4a66eaf870b0b4d9caa6">PxConstraintBatchHeader::stride</a></div><div class="ttdeci">PxU16 stride</div><div class="ttdoc">Number of constraints in this batch (range: 1-4) </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:107</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a32c32515e655df204dc97163c0d8f503"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a32c32515e655df204dc97163c0d8f503">PxTGSSolverContactDesc::maxCCDSeparation</a></div><div class="ttdeci">PxReal maxCCDSeparation</div><div class="ttdoc">A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:414</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a6fa8f15b3d25c668667d45ab0493d637"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a6fa8f15b3d25c668667d45ab0493d637">PxTGSSolverConstraintPrepDesc::numRows</a></div><div class="ttdeci">PxU32 numRows</div><div class="ttdoc">The number of rows. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:386</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a52c82757413cf7a74fd33543be21f9bc"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a52c82757413cf7a74fd33543be21f9bc">PxTGSSolverContactDesc::numFrictionPatches</a></div><div class="ttdeci">PxU32 numFrictionPatches</div><div class="ttdoc">Total number of friction patches in this pair. Set by friction correlation. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:422</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:172</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a0e7c10b35dcc40b914857957fa64beb2"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a0e7c10b35dcc40b914857957fa64beb2">PxSolverConstraintDesc::bodyBDataIndex</a></div><div class="ttdeci">PxU32 bodyBDataIndex</div><div class="ttdoc">Body B&#39;s index into the SolverBodyData array. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:138</div></div>
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<div class="ttc" id="structPxSolverBodyData_html"><div class="ttname"><a href="structPxSolverBodyData.html">PxSolverBodyData</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:80</div></div>
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<div class="ttc" id="structPxArticulationAxis_html"><div class="ttname"><a href="structPxArticulationAxis.html">PxArticulationAxis</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:237</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_afaeb10971f33613461d2c6cf1c2804fa"><div class="ttname"><a href="structPxSolverContactDesc.html#afaeb10971f33613461d2c6cf1c2804fa">PxSolverContactDesc::startFrictionPatchIndex</a></div><div class="ttdeci">PxU32 startFrictionPatchIndex</div><div class="ttdoc">Start index of friction patch in the correlation buffer. Set by friction correlation. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:206</div></div>
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<div class="ttc" id="structPxArticulationDriveType_html_aee32bd489c0bda0888ec2a13cdd7fc66"><div class="ttname"><a href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66">PxArticulationDriveType::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:292</div></div>
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<div class="ttc" id="structPxArticulationDrive_html"><div class="ttname"><a href="structPxArticulationDrive.html">PxArticulationDrive</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:307</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_ae2e4ab03c648da3de0754b5bb20470af"><div class="ttname"><a href="structPxSolverContactDesc.html#ae2e4ab03c648da3de0754b5bb20470af">PxSolverContactDesc::hasForceThresholds</a></div><div class="ttdeci">bool hasForceThresholds</div><div class="ttdoc">Defines whether this pair requires force thresholds. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:196</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a11c978927580e83557522429a291b1e0"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a11c978927580e83557522429a291b1e0">PxTGSSolverContactDesc::frictionCount</a></div><div class="ttdeci">PxU8 frictionCount</div><div class="ttdoc">The total number of friction patches in this pair. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:417</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a31b779c60e6f523d3367b109a55b8498"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a31b779c60e6f523d3367b109a55b8498">PxTGSSolverContactDesc::hasMaxImpulse</a></div><div class="ttdeci">bool hasMaxImpulse</div><div class="ttdoc">Defines whether this pairs has maxImpulses clamping enabled. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:409</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_afadce7bc6a74c62a91c1876aa34e9a4f"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">PxSolverConstraintPrepDescBase::BodyState</a></div><div class="ttdeci">BodyState</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:147</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_ab7d352db61fd0a031d9574a4322e629d"><div class="ttname"><a href="structPxSolverConstraintDesc.html#ab7d352db61fd0a031d9574a4322e629d">PxSolverConstraintDesc::linkIndexA</a></div><div class="ttdeci">PxU16 linkIndexA</div><div class="ttdoc">Link index defining which link in Articulation A this constraint affects. If not an articulation...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:135</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_ab0a996ed090bea6630a56bc00a4637d3"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#ab0a996ed090bea6630a56bc00a4637d3">PxTGSSolverConstraintPrepDesc::extendedLimits</a></div><div class="ttdeci">bool extendedLimits</div><div class="ttdoc">Indiciates whether extended limits are used. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:394</div></div>
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<div class="ttc" id="classPxVec3_html_a4c136327953ea1b09be10d979279b7dc"><div class="ttname"><a href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">PxVec3::dot</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxVec3 &v) const</div><div class="ttdoc">returns the scalar product of this and other. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:276</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_ade2d671c9125af9907938a425f6b9af2"><div class="ttname"><a href="structPxSolverBodyData.html#ade2d671c9125af9907938a425f6b9af2">PxSolverBodyData::penBiasClamp</a></div><div class="ttdeci">PxReal penBiasClamp</div><div class="ttdoc">72 the penetration bias clamp </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:87</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a0ff123ce07992aa9ba795366f347aed1"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a0ff123ce07992aa9ba795366f347aed1">PxTGSSolverContactDesc::maxImpulse</a></div><div class="ttdeci">PxReal maxImpulse</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:428</div></div>
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<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
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<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html"><div class="ttname"><a href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:342</div></div>
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<div class="ttc" id="structPxTGSSolverBodyTxInertia_html"><div class="ttname"><a href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:336</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_aecb81b31ea78f95b634eecdc4ff787e9"><div class="ttname"><a href="structPxSolverContactDesc.html#aecb81b31ea78f95b634eecdc4ff787e9">PxSolverContactDesc::frictionPtr</a></div><div class="ttdeci">PxU8 * frictionPtr</div><div class="ttdoc">InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behavi...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:201</div></div>
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<div class="ttc" id="namespaceDy_html"><div class="ttname"><a href="namespaceDy.html">Dy</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:52</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_aeba37ba193902e0141dc9cd4d6cacaf2"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#aeba37ba193902e0141dc9cd4d6cacaf2">PxTGSSolverConstraintPrepDescBase::bodyFrame0</a></div><div class="ttdeci">PxTransform bodyFrame0</div><div class="ttdoc">In: The world-space transform of the first body. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:375</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a01424750f4140ed60797167cf6e4162f"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a01424750f4140ed60797167cf6e4162f">PxTGSSolverConstraintPrepDesc::cB2w</a></div><div class="ttdeci">PxVec3 cB2w</div><div class="ttdoc">Location of anchor point B in world space. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:398</div></div>
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<div class="ttc" id="structPxConstraintBatchHeader_html_aebd891a396f7b1a48f387141d7998c04"><div class="ttname"><a href="structPxConstraintBatchHeader.html#aebd891a396f7b1a48f387141d7998c04">PxConstraintBatchHeader::constraintType</a></div><div class="ttdeci">PxU16 constraintType</div><div class="ttdoc">The type of constraint this batch references. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:108</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a6f2321b7e28076c3b14e30c0c9f9bdf3"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3">PxSolverConstraintPrepDescBase::bodyState1</a></div><div class="ttdeci">BodyState bodyState1</div><div class="ttdoc">In: Defines what kind of actor the second body is. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:169</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a2261ea42204894094ada177641222c9a"><div class="ttname"><a href="structPxSolverContactDesc.html#a2261ea42204894094ada177641222c9a">PxSolverContactDesc::numContactPatches</a></div><div class="ttdeci">PxU16 numContactPatches</div><div class="ttdoc">Total number of contact patches. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:210</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a25fc01cac6b0554cac348a5c47430dc0"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a25fc01cac6b0554cac348a5c47430dc0">PxSolverConstraintDesc::tgsBodyB</a></div><div class="ttdeci">PxTGSSolverBodyVel * tgsBodyB</div><div class="ttdoc">BodyB pointer. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:132</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_ae94706f6d8851b7cfb9cfc054afe7fd2"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#ae94706f6d8851b7cfb9cfc054afe7fd2">PxTGSSolverContactDesc::disableStrongFriction</a></div><div class="ttdeci">bool disableStrongFriction</div><div class="ttdoc">Defines whether this pair disables strong friction (sticky friction correlation) </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:410</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_a3a5cece8fd2221a2d154c2ca2398cf48"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#a3a5cece8fd2221a2d154c2ca2398cf48">PxSolverConstraintPrepDesc::body0WorldOffset</a></div><div class="ttdeci">PxVec3 body0WorldOffset</div><div class="ttdoc">Body0 world offset. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:185</div></div>
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<div class="ttc" id="structPxArticulationMotion_html_af04dcaf188047e88858bb7352bdfe879"><div class="ttname"><a href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879">PxArticulationMotion::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:255</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_aa0a51c38561792f72763a9e214eaa150af07aa2676bc3a0f445124a369d76178d"><div class="ttname"><a href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150af07aa2676bc3a0f445124a369d76178d">PxSolverConstraintDesc::eCONTACT_CONSTRAINT</a></div><div class="ttdoc">Defines this pair is a contact constraint. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:117</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_aae266269124532f1dee273c75209d9fb"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#aae266269124532f1dee273c75209d9fb">PxTGSSolverConstraintPrepDescBase::invMassScales</a></div><div class="ttdeci">PxConstraintInvMassScale invMassScales</div><div class="ttdoc">In: The local mass scaling for this pair. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:362</div></div>
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<div class="ttc" id="PxConstraintDesc_8h_html"><div class="ttname"><a href="PxConstraintDesc_8h.html">PxConstraintDesc.h</a></div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a024740f7b599adb152a938b55c153709"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a024740f7b599adb152a938b55c153709">PxTGSSolverBodyVel::nbStaticInteractions</a></div><div class="ttdeci">PxU16 nbStaticInteractions</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:317</div></div>
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<div class="ttc" id="structPxArticulationFlag_html"><div class="ttname"><a href="structPxArticulationFlag.html">PxArticulationFlag</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:278</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a6a22f7cd3293b9877ec97560b1862e8c"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a6a22f7cd3293b9877ec97560b1862e8c">PxTGSSolverConstraintPrepDescBase::bodyFrame1</a></div><div class="ttdeci">PxTransform bodyFrame1</div><div class="ttdoc">In: The world-space transform of the second body. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:376</div></div>
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<div class="ttc" id="classPxConstraintAllocator_html"><div class="ttname"><a href="classPxConstraintAllocator.html">PxConstraintAllocator</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:216</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_a7b17688352d179df4698a1caf0327c76"><div class="ttname"><a href="structPxTGSSolverBodyData.html#a7b17688352d179df4698a1caf0327c76">PxTGSSolverBodyData::penBiasClamp</a></div><div class="ttdeci">PxReal penBiasClamp</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:347</div></div>
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<div class="ttc" id="structPx1DConstraint_html"><div class="ttname"><a href="structPx1DConstraint.html">Px1DConstraint</a></div><div class="ttdoc">A constraint. </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:141</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_af209e0ce9b1975ed8340b528f00df9c1"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#af209e0ce9b1975ed8340b528f00df9c1">PxTGSSolverContactDesc::contacts</a></div><div class="ttdeci">Gu::ContactPoint * contacts</div><div class="ttdoc">The start of the contacts for this pair. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:406</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_a6486d9b8c5fe602b22cba2f77fc97a5f"><div class="ttname"><a href="structPxTGSSolverBodyData.html#a6486d9b8c5fe602b22cba2f77fc97a5f">PxTGSSolverBodyData::reportThreshold</a></div><div class="ttdeci">PxReal reportThreshold</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:351</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a0f8a1cde9ca85bff8d8c95a444502128"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a0f8a1cde9ca85bff8d8c95a444502128">PxTGSSolverBodyVel::deltaAngDt</a></div><div class="ttdeci">PxVec3 deltaAngDt</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:321</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_ac974d6181623739bdc087b02c1dd311b"><div class="ttname"><a href="structPxSolverBodyData.html#ac974d6181623739bdc087b02c1dd311b">PxSolverBodyData::maxContactImpulse</a></div><div class="ttdeci">PxReal maxContactImpulse</div><div class="ttdoc">80 the max contact impulse </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:89</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a396aa6ce5758b19d81a4860fa67065db"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a396aa6ce5758b19d81a4860fa67065db">PxTGSSolverBodyVel::lockFlags</a></div><div class="ttdeci">PxU16 lockFlags</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:324</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a6cc18f29a8da2a1e8d6af3e9fdce942c"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c">PxSolverConstraintPrepDescBase::body1</a></div><div class="ttdeci">const PxSolverBody * body1</div><div class="ttdoc">In: The second body. Stores velocity information. Unused unless contact involves articulations. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:160</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a917f6a5b6829c4c6f8f44182628e4e2e"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a917f6a5b6829c4c6f8f44182628e4e2e">PxSolverConstraintDesc::bodyA</a></div><div class="ttdeci">PxSolverBody * bodyA</div><div class="ttdoc">bodyA pointer </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:123</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a6a53ca0ea9f69a6581f2b44ed1ea8aa4"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a6a53ca0ea9f69a6581f2b44ed1ea8aa4">PxTGSSolverConstraintPrepDescBase::desc</a></div><div class="ttdeci">PxSolverConstraintDesc * desc</div><div class="ttdoc">Output: The PxSolverConstraintDesc filled in by contact prep. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:364</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a4e75c52e5f71af359af9b62c3f709564"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a4e75c52e5f71af359af9b62c3f709564">PxSolverConstraintDesc::tgsBodyA</a></div><div class="ttdeci">PxTGSSolverBodyVel * tgsBodyA</div><div class="ttdoc">bodyA pointer </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:124</div></div>
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<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a6d22cbffa472183363fdb9b38400db09"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a6d22cbffa472183363fdb9b38400db09">PxTGSSolverConstraintPrepDesc::rows</a></div><div class="ttdeci">Px1DConstraint * rows</div><div class="ttdoc">The start of the constraint rows. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:385</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a7d0a19a4752992c482bc7c5d9e315927"><div class="ttname"><a href="structPxSolverContactDesc.html#a7d0a19a4752992c482bc7c5d9e315927">PxSolverContactDesc::disableStrongFriction</a></div><div class="ttdeci">bool disableStrongFriction</div><div class="ttdoc">Defines whether this pair disables strong friction (sticky friction correlation) </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:195</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_a668762cdcd8004c19e033952be2206b6"><div class="ttname"><a href="structPxSolverBodyData.html#a668762cdcd8004c19e033952be2206b6">PxSolverBodyData::invMass</a></div><div class="ttdeci">PxReal invMass</div><div class="ttdoc">16 inverse mass </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:83</div></div>
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<div class="ttc" id="GuContactPoint_8h_html"><div class="ttname"><a href="GuContactPoint_8h.html">GuContactPoint.h</a></div></div>
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<div class="ttc" id="structPxSolverBodyData_html_a1a9709cbcf35df7551b23ff63b40a415"><div class="ttname"><a href="structPxSolverBodyData.html#a1a9709cbcf35df7551b23ff63b40a415">PxSolverBodyData::lockFlags</a></div><div class="ttdeci">PxU16 lockFlags</div><div class="ttdoc">110 lock flags </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:91</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_ae2a5692ebc3c99c68ac34828d15ef56d"><div class="ttname"><a href="structPxSolverContactDesc.html#ae2a5692ebc3c99c68ac34828d15ef56d">PxSolverContactDesc::numContacts</a></div><div class="ttdeci">PxU32 numContacts</div><div class="ttdoc">The total number of contacs this pair references. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:192</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_a3e0265b810f968f1ad0ef6442586d6ec"><div class="ttname"><a href="structPxTGSSolverBodyData.html#a3e0265b810f968f1ad0ef6442586d6ec">PxTGSSolverBodyData::maxContactImpulse</a></div><div class="ttdeci">PxReal maxContactImpulse</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:345</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a1bf247709055aaa9e9c702d76de6c866"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a1bf247709055aaa9e9c702d76de6c866">PxTGSSolverConstraintPrepDescBase::bodyData0</a></div><div class="ttdeci">const PxTGSSolverBodyData * bodyData0</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:372</div></div>
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<div class="ttc" id="structPxConstraintInvMassScale_html"><div class="ttname"><a href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a></div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:189</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a2528245373f86eb6475151cff7f517c5"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a2528245373f86eb6475151cff7f517c5">PxTGSSolverContactDesc::contactForces</a></div><div class="ttdeci">PxReal * contactForces</div><div class="ttdoc">Out: A buffer for the solver to write applied contact forces to. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:419</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_a4fced225135ff28142c1dbb8281b74a8"><div class="ttname"><a href="structPxTGSSolverBodyData.html#a4fced225135ff28142c1dbb8281b74a8">PxTGSSolverBodyData::nodeIndex</a></div><div class="ttdeci">PxU32 nodeIndex</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:350</div></div>
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<div class="ttc" id="structPxArticulationJointType_html"><div class="ttname"><a href="structPxArticulationJointType.html">PxArticulationJointType</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:266</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a35c2833954aa8eabdf9d2ee67e973130"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a35c2833954aa8eabdf9d2ee67e973130">PxTGSSolverConstraintPrepDesc::cA2w</a></div><div class="ttdeci">PxVec3 cA2w</div><div class="ttdoc">Location of anchor point A in world space. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:397</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a5b54a6acfb85192b99f71bc9a72d2c1a"><div class="ttname"><a href="structPxSolverContactDesc.html#a5b54a6acfb85192b99f71bc9a72d2c1a">PxSolverContactDesc::axisConstraintCount</a></div><div class="ttdeci">PxU16 axisConstraintCount</div><div class="ttdoc">Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistica...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:211</div></div>
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<div class="ttc" id="structPxSolverBody_html_afa5845fa664df156d2a25300ea00593e"><div class="ttname"><a href="structPxSolverBody.html#afa5845fa664df156d2a25300ea00593e">PxSolverBody::PxSolverBody</a></div><div class="ttdeci">PxSolverBody()</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:73</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_ac428634b273386f0edf5e17ea3fd0049"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#ac428634b273386f0edf5e17ea3fd0049">PxTGSSolverConstraintPrepDescBase::body1</a></div><div class="ttdeci">const PxTGSSolverBodyVel * body1</div><div class="ttdoc">In: The second body. Stores velocity information. Unused unless contact involves articulations. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:367</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_a3b7d111854e74252e892765ac4a3b3ad"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#a3b7d111854e74252e892765ac4a3b3ad">PxSolverConstraintPrepDesc::improvedSlerp</a></div><div class="ttdeci">bool improvedSlerp</div><div class="ttdoc">Use improved slerp model. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:181</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html"><div class="ttname"><a href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:314</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_aed207eb98917eeda2b19bdb2fe65f14e"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#aed207eb98917eeda2b19bdb2fe65f14e">PxTGSSolverContactDesc::startContactPatchIndex</a></div><div class="ttdeci">PxU32 startContactPatchIndex</div><div class="ttdoc">The start index of this pair&#39;s contact patches in the correlation buffer. For internal use only...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:424</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a1f1ac6c09e0d09bf84cfa4d0e88facee"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a1f1ac6c09e0d09bf84cfa4d0e88facee">PxTGSSolverBodyVel::maxDynamicPartition</a></div><div class="ttdeci">PxU16 maxDynamicPartition</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:318</div></div>
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<div class="ttc" id="structPxArticulationLimit_html_aaa1c11208757637eac126a3bce749b67"><div class="ttname"><a href="structPxArticulationLimit.html#aaa1c11208757637eac126a3bce749b67">PxArticulationLimit::low</a></div><div class="ttdeci">PxReal low</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:304</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a79971a484d887112079ba3f980e9b0e0"><div class="ttname"><a href="structPxSolverContactDesc.html#a79971a484d887112079ba3f980e9b0e0">PxSolverContactDesc::startContactPatchIndex</a></div><div class="ttdeci">PxU32 startContactPatchIndex</div><div class="ttdoc">The start index of this pair&#39;s contact patches in the correlation buffer. For internal use only...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:209</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a863ba941fa369400c70692b7fa7b57e6"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a863ba941fa369400c70692b7fa7b57e6">PxTGSSolverBodyVel::deltaLinDt</a></div><div class="ttdeci">PxVec3 deltaLinDt</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:323</div></div>
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<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a9603c86a5d2d0bff969100f99e404753"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a9603c86a5d2d0bff969100f99e404753">angular</a></div><div class="ttdeci">PxVec3 angular</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:134</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a661c068fee9d0d69310f061791cc1a31"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a661c068fee9d0d69310f061791cc1a31">PxTGSSolverBodyVel::isKinematic</a></div><div class="ttdeci">bool isKinematic</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:325</div></div>
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<div class="ttc" id="PxSolverDefs_8h_html_a4d2907efdef5e5b7b1becd1ab59c2405"><div class="ttname"><a href="PxSolverDefs_8h.html#a4d2907efdef5e5b7b1becd1ab59c2405">PxArticulationMotions</a></div><div class="ttdeci">PxFlags< PxArticulationMotion::Enum, PxU8 > PxArticulationMotions</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:263</div></div>
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<div class="ttc" id="classPxConstraintAllocator_html_a28446a3d69923bc834d8c80938ff18be"><div class="ttname"><a href="classPxConstraintAllocator.html#a28446a3d69923bc834d8c80938ff18be">PxConstraintAllocator::~PxConstraintAllocator</a></div><div class="ttdeci">virtual ~PxConstraintAllocator()</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:234</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_ae6a7c6dbbf6ade521ca9f485fa70ecab"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab">PxSolverConstraintPrepDescBase::desc</a></div><div class="ttdeci">PxSolverConstraintDesc * desc</div><div class="ttdoc">Output: The PxSolverConstraintDesc filled in by contact prep. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:157</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_aef16d81dc691549d6b58f2118406dd2f"><div class="ttname"><a href="structPxTGSSolverBodyData.html#aef16d81dc691549d6b58f2118406dd2f">PxTGSSolverBodyData::invMass</a></div><div class="ttdeci">PxReal invMass</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:349</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_abb4e61b97d7c31cda50f046a6997905b"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#abb4e61b97d7c31cda50f046a6997905b">PxTGSSolverConstraintPrepDesc::minResponseThreshold</a></div><div class="ttdeci">PxReal minResponseThreshold</div><div class="ttdoc">The minimum response threshold. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:389</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_ad20755f12b4cc3e302af7353a923ae4f"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#ad20755f12b4cc3e302af7353a923ae4f">PxTGSSolverContactDesc::startFrictionPatchIndex</a></div><div class="ttdeci">PxU32 startFrictionPatchIndex</div><div class="ttdoc">Start index of friction patch in the correlation buffer. Set by friction correlation. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:421</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_ac846e96c932f98fe0ade48f813c464c6"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#ac846e96c932f98fe0ade48f813c464c6">PxTGSSolverContactDesc::axisConstraintCount</a></div><div class="ttdeci">PxU16 axisConstraintCount</div><div class="ttdoc">Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistica...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:426</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_aaa77283c5efaa8f2b11611881729e8b8"><div class="ttname"><a href="structPxSolverConstraintDesc.html#aaa77283c5efaa8f2b11611881729e8b8">PxSolverConstraintDesc::writeBackLengthOver4</a></div><div class="ttdeci">PxU16 writeBackLengthOver4</div><div class="ttdoc">writeBackLength/4, max writeback length is 256K, allows PxSolverConstraintDesc to fit in 32 bytes ...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:139</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_ac90d6c44134ff6338c99f129334f877b"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#ac90d6c44134ff6338c99f129334f877b">PxTGSSolverConstraintPrepDesc::disablePreprocessing</a></div><div class="ttdeci">bool disablePreprocessing</div><div class="ttdoc">Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:391</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a270fce74ffe1dc2d2207fd709b9fb2cd"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a270fce74ffe1dc2d2207fd709b9fb2cd">PxTGSSolverBodyVel::partitionMask</a></div><div class="ttdeci">PxU32 partitionMask</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:320</div></div>
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<div class="ttc" id="namespaceSc_html"><div class="ttname"><a href="namespaceSc.html">Sc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:58</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_addb6a6a2962b8ce47ff7bf53db6f7759"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#addb6a6a2962b8ce47ff7bf53db6f7759">PxSolverConstraintPrepDesc::driveLimitsAreForces</a></div><div class="ttdeci">bool driveLimitsAreForces</div><div class="ttdoc">Indicates whether drive limits are forces. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:182</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_ac19bc948958e2f2de3ca214afad28b11"><div class="ttname"><a href="structPxSolverContactDesc.html#ac19bc948958e2f2de3ca214afad28b11">PxSolverContactDesc::hasMaxImpulse</a></div><div class="ttdeci">bool hasMaxImpulse</div><div class="ttdoc">Defines whether this pairs has maxImpulses clamping enabled. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:194</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a1b333a2fea69f88f1c11c9f812052e0f"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a1b333a2fea69f88f1c11c9f812052e0f">PxTGSSolverConstraintPrepDescBase::body0</a></div><div class="ttdeci">const PxTGSSolverBodyVel * body0</div><div class="ttdoc">In: The first body. Stores velocity information. Unused unless contact involves articulations. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:366</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a251d9872155e952dcdd7dec21b9471a3"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3">PxSolverConstraintPrepDescBase::bodyFrame0</a></div><div class="ttdeci">PxTransform bodyFrame0</div><div class="ttdoc">In: The world-space transform of the first body. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:165</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a0cdbc868a9696b9cf91225391b355d5f"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a0cdbc868a9696b9cf91225391b355d5f">PxTGSSolverConstraintPrepDesc::body0WorldOffset</a></div><div class="ttdeci">PxVec3 body0WorldOffset</div><div class="ttdoc">Body0 world offset. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:396</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a143884acc4bdc567626be91653ed861f"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a143884acc4bdc567626be91653ed861f">PxTGSSolverBodyVel::pad</a></div><div class="ttdeci">PxU8 pad</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:326</div></div>
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<div class="ttc" id="structPxConstraintBatchHeader_html_a0e1adca3a7c26418d6a2187344f3c190"><div class="ttname"><a href="structPxConstraintBatchHeader.html#a0e1adca3a7c26418d6a2187344f3c190">PxConstraintBatchHeader::startIndex</a></div><div class="ttdeci">PxU32 startIndex</div><div class="ttdoc">Start index for this batch. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:106</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a24e2c2e70799b612afe971b20a3daf56"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a24e2c2e70799b612afe971b20a3daf56">PxTGSSolverBodyVel::projectVelocity</a></div><div class="ttdeci">PX_FORCE_INLINE PxReal projectVelocity(const PxVec3 &lin, const PxVec3 &ang) const</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:328</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_a8c36cfdf8537f4d1109466c8ad65b57c"><div class="ttname"><a href="structPxTGSSolverBodyData.html#a8c36cfdf8537f4d1109466c8ad65b57c">PxTGSSolverBodyData::projectVelocity</a></div><div class="ttdeci">PxReal projectVelocity(const PxVec3 &linear, const PxVec3 &angular) const</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:354</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a16112a28791d053030749d7a16dba358"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a16112a28791d053030749d7a16dba358">PxTGSSolverConstraintPrepDesc::improvedSlerp</a></div><div class="ttdeci">bool improvedSlerp</div><div class="ttdoc">Use improved slerp model. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:392</div></div>
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<div class="ttc" id="namespacephysx_html_a3849f86abc21d3a58949481603fe8309"><div class="ttname"><a href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">physx::PxU8</a></div><div class="ttdeci">uint8_t PxU8</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:75</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a009c28b94dbb4e2bf77ee50f187924be"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a009c28b94dbb4e2bf77ee50f187924be">PxTGSSolverContactDesc::minTorsionalPatchRadius</a></div><div class="ttdeci">PxReal minTorsionalPatchRadius</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:431</div></div>
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<div class="ttc" id="PxConstraintDesc_8h_html_adc081240b94af5fc9f010e0583263581"><div class="ttname"><a href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a></div><div class="ttdeci">PxReal damping</div><div class="ttdoc">damping parameter, for spring constraints </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:100</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_ad451864f355f80ff88b943b9f3ec6079"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#ad451864f355f80ff88b943b9f3ec6079">PxTGSSolverContactDesc::numContactPatches</a></div><div class="ttdeci">PxU16 numContactPatches</div><div class="ttdoc">Total number of contact patches. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:425</div></div>
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<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a62180b6a25deacd6454c72f0680b3349"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a62180b6a25deacd6454c72f0680b3349">PxTGSSolverBodyVel::angularVelocity</a></div><div class="ttdeci">PxVec3 angularVelocity</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:319</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html"><div class="ttname"><a href="structPxSolverContactDesc.html">PxSolverContactDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:188</div></div>
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<div class="ttc" id="structPxTGSSolverBodyTxInertia_html_aaa47dd8511fb2b56f1d285b5ba45f118"><div class="ttname"><a href="structPxTGSSolverBodyTxInertia.html#aaa47dd8511fb2b56f1d285b5ba45f118">PxTGSSolverBodyTxInertia::deltaBody2World</a></div><div class="ttdeci">PxTransform deltaBody2World</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:338</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a2e6f1bfe2c789007a302b614b730daaa"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a2e6f1bfe2c789007a302b614b730daaa">PxTGSSolverConstraintPrepDesc::linBreakForce</a></div><div class="ttdeci">PxReal linBreakForce</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:388</div></div>
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<div class="ttc" id="structPxArticulationDrive_html_a4f2bb568cb4dece9d9b01e4affb1615d"><div class="ttname"><a href="structPxArticulationDrive.html#a4f2bb568cb4dece9d9b01e4affb1615d">PxArticulationDrive::driveType</a></div><div class="ttdeci">PxArticulationDriveType::Enum driveType</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:310</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_aa0a51c38561792f72763a9e214eaa150"><div class="ttname"><a href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150">PxSolverConstraintDesc::ConstraintType</a></div><div class="ttdeci">ConstraintType</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:115</div></div>
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<div class="ttc" id="structPxTGSSolverBodyTxInertia_html_af71f4198dd9c487461a3302c6784ea6f"><div class="ttname"><a href="structPxTGSSolverBodyTxInertia.html#af71f4198dd9c487461a3302c6784ea6f">PxTGSSolverBodyTxInertia::sqrtInvInertia</a></div><div class="ttdeci">PxMat33 sqrtInvInertia</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:339</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:145</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a661a0d94ab747d3f6e71deb44179f74a"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a661a0d94ab747d3f6e71deb44179f74a">PxTGSSolverConstraintPrepDescBase::bodyState0</a></div><div class="ttdeci">PxSolverContactDesc::BodyState bodyState0</div><div class="ttdoc">In: Defines what kind of actor the first body is. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:378</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html">PxTGSSolverConstraintPrepDescBase</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:360</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a417fed9862da2ced60f98353fea74ace"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a417fed9862da2ced60f98353fea74ace">PxSolverConstraintDesc::constraintLengthOver16</a></div><div class="ttdeci">PxU16 constraintLengthOver16</div><div class="ttdoc">constraintLength/16, max constraint length is 1MB, allows PxSolverConstraintDesc to fit in 32 bytes ...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:140</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_abf87509917d688f2296b3e4ca1883bc2"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#abf87509917d688f2296b3e4ca1883bc2">PxTGSSolverConstraintPrepDescBase::body1TxI</a></div><div class="ttdeci">const PxTGSSolverBodyTxInertia * body1TxI</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:370</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_afb5f4b0d0b54dffbe066d8f9471474a3"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#afb5f4b0d0b54dffbe066d8f9471474a3">PxSolverConstraintPrepDesc::linBreakForce</a></div><div class="ttdeci">PxReal linBreakForce</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:177</div></div>
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<div class="ttc" id="classPxMat33_html"><div class="ttname"><a href="classPxMat33.html">PxMat33</a></div><div class="ttdoc">3x3 matrix class </div><div class="ttdef"><b>Definition:</b> PxMat33.h:90</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a7a577215addd09b9e092aae536157161"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a7a577215addd09b9e092aae536157161">PxSolverConstraintDesc::constraint</a></div><div class="ttdeci">PxU8 * constraint</div><div class="ttdoc">Pointer to the constraint rows to be solved. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:141</div></div>
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<div class="ttc" id="structPxSolverBody_html"><div class="ttname"><a href="structPxSolverBody.html">PxSolverBody</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:63</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_ac01024b5307ea57e79c7891d89906296"><div class="ttname"><a href="structPxSolverBodyData.html#ac01024b5307ea57e79c7891d89906296">PxSolverBodyData::nodeIndex</a></div><div class="ttdeci">PxU32 nodeIndex</div><div class="ttdoc">76 the node idx of this solverBodyData. Used by solver to reference between solver bodies and island ...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:88</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_a2ab7bc060f7946ae4f3bb1da17018326"><div class="ttname"><a href="structPxSolverBodyData.html#a2ab7bc060f7946ae4f3bb1da17018326">PxSolverBodyData::angularVelocity</a></div><div class="ttdeci">PxVec3 angularVelocity</div><div class="ttdoc">28 Pre-solver angular velocity </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:84</div></div>
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<div class="ttc" id="PxSolverDefs_8h_html_a0b777f57ee7373fc869734591a7d1ba5"><div class="ttname"><a href="PxSolverDefs_8h.html#a0b777f57ee7373fc869734591a7d1ba5">PX_COMPILE_TIME_ASSERT</a></div><div class="ttdeci">PX_COMPILE_TIME_ASSERT(sizeof(PxSolverBody)==32)</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a71566924a2d0ebc51d688318309e0e7e"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a71566924a2d0ebc51d688318309e0e7e">PxTGSSolverContactDesc::numContacts</a></div><div class="ttdeci">PxU32 numContacts</div><div class="ttdoc">The total number of contacs this pair references. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:407</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a298a86d11c87a19bab4874d932f19188"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188">PxSolverConstraintPrepDescBase::invMassScales</a></div><div class="ttdeci">PxConstraintInvMassScale invMassScales</div><div class="ttdoc">In: The local mass scaling for this pair. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:155</div></div>
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<div class="ttc" id="PxSolverDefs_8h_html_a40a321fce7bcb9669d32fca769d2958a"><div class="ttname"><a href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a">PxArticulationFlags</a></div><div class="ttdeci">PxFlags< PxArticulationFlag::Enum, PxU8 > PxArticulationFlags</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:287</div></div>
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<div class="ttc" id="structPxArticulationDriveType_html"><div class="ttname"><a href="structPxArticulationDriveType.html">PxArticulationDriveType</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:290</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a6144adf5b9396847a54da7d7c17a770f"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a6144adf5b9396847a54da7d7c17a770f">PxSolverConstraintDesc::bodyB</a></div><div class="ttdeci">PxSolverBody * bodyB</div><div class="ttdoc">BodyB pointer. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:131</div></div>
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<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a840381307a4813334fba199be4bbcbf3"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a840381307a4813334fba199be4bbcbf3">linear</a></div><div class="ttdeci">PxVec3 linear</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:132</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a1b01af74e18c8ce096fdd19b29fe9937"><div class="ttname"><a href="structPxSolverContactDesc.html#a1b01af74e18c8ce096fdd19b29fe9937">PxSolverContactDesc::restDistance</a></div><div class="ttdeci">PxReal restDistance</div><div class="ttdoc">A distance at which the solver should aim to hold the bodies separated. Default is 0...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:198</div></div>
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<div class="ttc" id="structPxSolverBody_html_a2e3b0fc4b9097cb2ded8aec5120299ec"><div class="ttname"><a href="structPxSolverBody.html#a2e3b0fc4b9097cb2ded8aec5120299ec">PxSolverBody::maxSolverFrictionProgress</a></div><div class="ttdeci">PxU16 maxSolverFrictionProgress</div><div class="ttdoc">Progress counter used by constraint batching and parallel island solver. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:67</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_adcfb898a3284a280700296191ac1ac45"><div class="ttname"><a href="structPxTGSSolverBodyData.html#adcfb898a3284a280700296191ac1ac45">PxTGSSolverBodyData::originalAngularVelocity</a></div><div class="ttdeci">PxVec3 originalAngularVelocity</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:346</div></div>
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<div class="ttc" id="PxVec3_8h_html"><div class="ttname"><a href="PxVec3_8h.html">PxVec3.h</a></div></div>
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<div class="ttc" id="PxTransform_8h_html"><div class="ttname"><a href="PxTransform_8h.html">PxTransform.h</a></div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a4e898ee147ebd910c17f972b36469c2f"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a4e898ee147ebd910c17f972b36469c2f">PxTGSSolverConstraintPrepDesc::writeback</a></div><div class="ttdeci">void * writeback</div><div class="ttdoc">Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:390</div></div>
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<div class="ttc" id="PxMat33_8h_html"><div class="ttname"><a href="PxMat33_8h.html">PxMat33.h</a></div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a043bdbd0966b02478725edcb027a9819"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819">PxSolverConstraintPrepDescBase::bodyFrame1</a></div><div class="ttdeci">PxTransform bodyFrame1</div><div class="ttdoc">In: The world-space transform of the second body. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:166</div></div>
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<div class="ttc" id="structPxTGSSolverBodyVel_html_a96df4104c19d116c22bc0279975a16b2"><div class="ttname"><a href="structPxTGSSolverBodyVel.html#a96df4104c19d116c22bc0279975a16b2">PxTGSSolverBodyVel::maxAngVel</a></div><div class="ttdeci">PxReal maxAngVel</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:322</div></div>
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<div class="ttc" id="structPxSolverBody_html_abe151efeabf33d524e5589fc9897fbd7"><div class="ttname"><a href="structPxSolverBody.html#abe151efeabf33d524e5589fc9897fbd7">PxSolverBody::solverProgress</a></div><div class="ttdeci">PxU32 solverProgress</div><div class="ttdoc">Progress counter used by constraint batching and parallel island solver. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:71</div></div>
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<div class="ttc" id="structPxTGSSolverBodyData_html_adf8bec50408d2405fbf2372b13390572"><div class="ttname"><a href="structPxTGSSolverBodyData.html#adf8bec50408d2405fbf2372b13390572">PxTGSSolverBodyData::pad</a></div><div class="ttdeci">PxU32 pad</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:352</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_a58839e53ce16cf2d9ec3a54ead955870"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870">PxSolverConstraintPrepDescBase::body0</a></div><div class="ttdeci">const PxSolverBody * body0</div><div class="ttdoc">In: The first body. Stores velocity information. Unused unless contact involves articulations. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:159</div></div>
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<div class="ttc" id="group__foundation_html_ga95024dd88a7efd73c060616238ccbe8a"><div class="ttname"><a href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a></div><div class="ttdeci">#define PX_ALIGN(alignment, decl)</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:408</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html_a40bead37a891a1e5bdac959256e7f1bc"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html#a40bead37a891a1e5bdac959256e7f1bc">PxTGSSolverConstraintPrepDesc::driveLimitsAreForces</a></div><div class="ttdeci">bool driveLimitsAreForces</div><div class="ttdoc">Indicates whether drive limits are forces. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:393</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_a7577dd31e280ee90740c321d452f88a9"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#a7577dd31e280ee90740c321d452f88a9">PxSolverConstraintPrepDesc::disablePreprocessing</a></div><div class="ttdeci">bool disablePreprocessing</div><div class="ttdoc">Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:180</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a9925f638d123b5636e4b3ab9d58966ff"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a9925f638d123b5636e4b3ab9d58966ff">PxTGSSolverContactDesc::torsionalPatchRadius</a></div><div class="ttdeci">PxReal torsionalPatchRadius</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:430</div></div>
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<div class="ttc" id="structPxArticulationJointType_html_a0df5bb8217acae97e63421bedbfe0a0b"><div class="ttname"><a href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0b">PxArticulationJointType::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:268</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_a7dd4e0d49745651ea820b9ab93ff12c5"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#a7dd4e0d49745651ea820b9ab93ff12c5">PxSolverConstraintPrepDesc::extendedLimits</a></div><div class="ttdeci">bool extendedLimits</div><div class="ttdoc">Indicates whether we want to use extended limits. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:183</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a42cdafb4a9c8ef0daaa1dd584b2f2bd4"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a42cdafb4a9c8ef0daaa1dd584b2f2bd4">PxTGSSolverContactDesc::hasForceThresholds</a></div><div class="ttdeci">bool hasForceThresholds</div><div class="ttdoc">Defines whether this pair requires force thresholds. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:411</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_aeaab06a3dfac94c9ccde5e40f966f8af"><div class="ttname"><a href="structPxSolverBodyData.html#aeaab06a3dfac94c9ccde5e40f966f8af">PxSolverBodyData::sqrtInvInertia</a></div><div class="ttdeci">PxMat33 sqrtInvInertia</div><div class="ttdoc">68 inverse inertia in world space </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:86</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a2b7236819f8aacbc20f5d68596ec37ec"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a2b7236819f8aacbc20f5d68596ec37ec">PxTGSSolverContactDesc::shapeInteraction</a></div><div class="ttdeci">Sc::ShapeInteraction * shapeInteraction</div><div class="ttdoc">Pointer to share interaction. Used for force threshold reports in solver. Set to NULL if using immedi...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:405</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a51d8370090983c269966739e14979e4a"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a51d8370090983c269966739e14979e4a">PxTGSSolverConstraintPrepDescBase::body0TxI</a></div><div class="ttdeci">const PxTGSSolverBodyTxInertia * body0TxI</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:369</div></div>
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<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags</a></div><div class="ttdoc">Container for bitfield flag variables associated with a specific enum type. </div><div class="ttdef"><b>Definition:</b> PxFlags.h:73</div></div>
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<div class="ttc" id="structPxSolverBody_html_a94d862d029f4dba6de658d2b84b6affc"><div class="ttname"><a href="structPxSolverBody.html#a94d862d029f4dba6de658d2b84b6affc">PxSolverBody::maxSolverNormalProgress</a></div><div class="ttdeci">PxU16 maxSolverNormalProgress</div><div class="ttdoc">Progress counter used by constraint batching and parallel island solver. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:66</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html"><div class="ttname"><a href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:111</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_ac98be485f0d333ed55a1dae735286964"><div class="ttname"><a href="structPxSolverContactDesc.html#ac98be485f0d333ed55a1dae735286964">PxSolverContactDesc::contacts</a></div><div class="ttdeci">Gu::ContactPoint * contacts</div><div class="ttdoc">The start of the contacts for this pair. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:191</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_aeeffe63a1a4b9f7b3a822b0f2d99a62d"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d">PxSolverConstraintPrepDescBase::data1</a></div><div class="ttdeci">const PxSolverBodyData * data1</div><div class="ttdoc">In: The second PxSolverBodyData. Stores mass and miscellaneous information for the second body...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:163</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_a1d32e78a191473936a6693b40185ad91"><div class="ttname"><a href="structPxSolverBodyData.html#a1d32e78a191473936a6693b40185ad91">PxSolverBodyData::body2World</a></div><div class="ttdeci">PxTransform body2World</div><div class="ttdoc">108 the body&#39;s transform </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:90</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a6dc38af5607703cc2fde5736f7e0ec66"><div class="ttname"><a href="structPxSolverContactDesc.html#a6dc38af5607703cc2fde5736f7e0ec66">PxSolverContactDesc::maxCCDSeparation</a></div><div class="ttdeci">PxReal maxCCDSeparation</div><div class="ttdoc">A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:199</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a93cdc318c9c74323988c5204870b6733"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a93cdc318c9c74323988c5204870b6733">PxTGSSolverConstraintPrepDescBase::bodyData1</a></div><div class="ttdeci">const PxTGSSolverBodyData * bodyData1</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:373</div></div>
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<div class="ttc" id="namespacephysx_html_a9caf1cbcda071b6d2a9c069faa99da23"><div class="ttname"><a href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">physx::PxU16</a></div><div class="ttdeci">uint16_t PxU16</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:73</div></div>
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<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_a74e634af20acbf0a37246a5ec44f2248"><div class="ttname"><a href="structPxSolverBodyData.html#a74e634af20acbf0a37246a5ec44f2248">PxSolverBodyData::reportThreshold</a></div><div class="ttdeci">PxReal reportThreshold</div><div class="ttdoc">32 contact force threshold </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:85</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a591b8d338b0e9932d67f405542776065"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a591b8d338b0e9932d67f405542776065">PxSolverConstraintDesc::articulationA</a></div><div class="ttdeci">Dy::ArticulationV * articulationA</div><div class="ttdoc">Articulation pointer for body A. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:125</div></div>
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<div class="ttc" id="structPxArticulationAxis_html_a5c835f1d727bfc738d1fc7a7595d7395"><div class="ttname"><a href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395">PxArticulationAxis::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:239</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:383</div></div>
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<div class="ttc" id="structPxArticulationFlag_html_a89b0e25f041302ae04e5cc0b509a7609"><div class="ttname"><a href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">PxArticulationFlag::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:280</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_a3988b4c1ee2db31ae8fb427bef2021c1"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#a3988b4c1ee2db31ae8fb427bef2021c1">PxSolverConstraintPrepDesc::minResponseThreshold</a></div><div class="ttdeci">PxReal minResponseThreshold</div><div class="ttdoc">The minimum response threshold. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:178</div></div>
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<div class="ttc" id="structPxSolverBodyData_html_aa443999488f683690658da520f1726c9"><div class="ttname"><a href="structPxSolverBodyData.html#aa443999488f683690658da520f1726c9">PxSolverBodyData::projectVelocity</a></div><div class="ttdeci">PX_FORCE_INLINE PxReal projectVelocity(const PxVec3 &lin, const PxVec3 &ang) const</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:94</div></div>
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<div class="ttc" id="structPxSolverContactDesc_html_a771ea901376db925ed46a6b59d3f9660"><div class="ttname"><a href="structPxSolverContactDesc.html#a771ea901376db925ed46a6b59d3f9660">PxSolverContactDesc::contactForces</a></div><div class="ttdeci">PxReal * contactForces</div><div class="ttdoc">Out: A buffer for the solver to write applied contact forces to. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:204</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDescBase_html_ad58b181d4ac418941bddfd3ce8065a10"><div class="ttname"><a href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10">PxSolverConstraintPrepDescBase::data0</a></div><div class="ttdeci">const PxSolverBodyData * data0</div><div class="ttdoc">In: The first PxSolverBodyData. Stores mass and miscellaneous information for the first body...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:162</div></div>
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<div class="ttc" id="structPxArticulationMotion_html"><div class="ttname"><a href="structPxArticulationMotion.html">PxArticulationMotion</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:253</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a75d8cc26a512bd1e1a1e1a965decfa83"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a75d8cc26a512bd1e1a1e1a965decfa83">PxSolverConstraintDesc::bodyADataIndex</a></div><div class="ttdeci">PxU32 bodyADataIndex</div><div class="ttdoc">Body A&#39;s index into the SolverBodyData array. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:137</div></div>
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<div class="ttc" id="structPxTGSSolverConstraintPrepDescBase_html_a00e4ad46100575375c9fcddd86a166b3"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDescBase.html#a00e4ad46100575375c9fcddd86a166b3">PxTGSSolverConstraintPrepDescBase::bodyState1</a></div><div class="ttdeci">PxSolverContactDesc::BodyState bodyState1</div><div class="ttdoc">In: Defines what kind of actor the second body is. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:379</div></div>
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<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
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<div class="ttc" id="structPxTGSSolverContactDesc_html_a264877eb201cfe904fbe832b94ebfccc"><div class="ttname"><a href="structPxTGSSolverContactDesc.html#a264877eb201cfe904fbe832b94ebfccc">PxTGSSolverContactDesc::restDistance</a></div><div class="ttdeci">PxReal restDistance</div><div class="ttdoc">A distance at which the solver should aim to hold the bodies separated. Default is 0...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:413</div></div>
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<div class="ttc" id="structPxArticulationDrive_html_aa107d1e20be5cc2bc08717add5e4d0f2"><div class="ttname"><a href="structPxArticulationDrive.html#aa107d1e20be5cc2bc08717add5e4d0f2">PxArticulationDrive::stiffness</a></div><div class="ttdeci">PxReal stiffness</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:309</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_a1452b23eaf124e9740f26e4bb98477ca"><div class="ttname"><a href="structPxSolverConstraintDesc.html#a1452b23eaf124e9740f26e4bb98477ca">PxSolverConstraintDesc::articulationB</a></div><div class="ttdeci">Dy::ArticulationV * articulationB</div><div class="ttdoc">Articulation pointer for body B. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:133</div></div>
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<div class="ttc" id="structPxSolverConstraintDesc_html_ae9b299864d3b98e18fcfc6a089bb7f79"><div class="ttname"><a href="structPxSolverConstraintDesc.html#ae9b299864d3b98e18fcfc6a089bb7f79">PxSolverConstraintDesc::writeBack</a></div><div class="ttdeci">void * writeBack</div><div class="ttdoc">Pointer to the writeback structure results for this given constraint are to be written to...</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:142</div></div>
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<div class="ttc" id="structPxConstraintBatchHeader_html"><div class="ttname"><a href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:104</div></div>
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<div class="ttc" id="structPxSolverConstraintPrepDesc_html_a70cd18a2d279f25baab00ef7838dec16"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html#a70cd18a2d279f25baab00ef7838dec16">PxSolverConstraintPrepDesc::numRows</a></div><div class="ttdeci">PxU32 numRows</div><div class="ttdoc">The number of rows. </div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:175</div></div>
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