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254 lines
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<div class="title">PxImmediateMode.h File Reference</div> </div>
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<div class="textblock"><code>#include "<a class="el" href="PxPhysXConfig_8h_source.html">PxPhysXConfig.h</a>"</code><br />
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<code>#include "<a class="el" href="PxSolverDefs_8h_source.html">solver/PxSolverDefs.h</a>"</code><br />
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<code>#include "<a class="el" href="PxCollisionDefs_8h_source.html">collision/PxCollisionDefs.h</a>"</code><br />
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<code>#include "<a class="el" href="PxArticulationReducedCoordinate_8h_source.html">PxArticulationReducedCoordinate.h</a>"</code><br />
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</div>
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<p><a href="PxImmediateMode_8h_source.html">Go to the source code of this file.</a></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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Classes</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxRigidBodyData.html">PxRigidBodyData</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Structure to store rigid body properties. <a href="structPxRigidBodyData.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxContactRecorder.html">PxContactRecorder</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Callback class to record contact points produced by immediate::PxGenerateContacts. <a href="classPxContactRecorder.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxImmediateConstraint.html">PxImmediateConstraint</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxArticulationJointData.html">PxArticulationJointData</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxFeatherstoneArticulationJointData.html">PxFeatherstoneArticulationJointData</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxFeatherstoneArticulationData.html">PxFeatherstoneArticulationData</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxMutableLinkData.html">PxMutableLinkData</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxLinkData.html">PxLinkData</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxFeatherstoneArticulationLinkData.html">PxFeatherstoneArticulationLinkData</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga56e360f21e02eeed788a58782e77316a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga56e360f21e02eeed788a58782e77316a">PxConstructSolverBodies</a> (const <a class="el" href="structPxRigidBodyData.html">PxRigidBodyData</a> *inRigidData, <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> *outSolverBodyData, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, const <a class="el" href="classPxVec3.html">PxVec3</a> &gravity, const PxReal dt)</td></tr>
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<tr class="memdesc:ga56e360f21e02eeed788a58782e77316a"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. <a href="group__immediatemode.html#ga56e360f21e02eeed788a58782e77316a">More...</a><br /></td></tr>
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<tr class="separator:ga56e360f21e02eeed788a58782e77316a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab1ff672bf5a0569d6cc5f137142b1c1d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gab1ff672bf5a0569d6cc5f137142b1c1d">PxConstructStaticSolverBody</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &globalPose, <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> &solverBodyData)</td></tr>
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<tr class="memdesc:gab1ff672bf5a0569d6cc5f137142b1c1d"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> structure for a static body at a given pose. <a href="group__immediatemode.html#gab1ff672bf5a0569d6cc5f137142b1c1d">More...</a><br /></td></tr>
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<tr class="separator:gab1ff672bf5a0569d6cc5f137142b1c1d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga02aa17b8f928f23a16520036c572e862"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga02aa17b8f928f23a16520036c572e862">PxBatchConstraints</a> (const <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *solverConstraintDescs, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbConstraints, <a class="el" href="structPxSolverBody.html">PxSolverBody</a> *solverBodies, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, <a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *outBatchHeaders, <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *outOrderedConstraintDescs, Dy::ArticulationV **articulations=NULL, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbArticulations=0)</td></tr>
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<tr class="memdesc:ga02aa17b8f928f23a16520036c572e862"><td class="mdescLeft"> </td><td class="mdescRight">Groups together sets of independent <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> objects to be solved using SIMD SOA approach. <a href="group__immediatemode.html#ga02aa17b8f928f23a16520036c572e862">More...</a><br /></td></tr>
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<tr class="separator:ga02aa17b8f928f23a16520036c572e862"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga02dd00aca33ee58a65f32472719e9b07"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga02dd00aca33ee58a65f32472719e9b07">PxCreateContactConstraints</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbHeaders, <a class="el" href="structPxSolverContactDesc.html">PxSolverContactDesc</a> *contactDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal invDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance)</td></tr>
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<tr class="memdesc:ga02dd00aca33ee58a65f32472719e9b07"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. <a href="group__immediatemode.html#ga02dd00aca33ee58a65f32472719e9b07">More...</a><br /></td></tr>
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<tr class="separator:ga02dd00aca33ee58a65f32472719e9b07"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8db0a2ecb56789d5311172ce228b7740"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga8db0a2ecb56789d5311172ce228b7740">PxCreateJointConstraints</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbHeaders, <a class="el" href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a> *jointDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal dt, const PxReal invDt)</td></tr>
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<tr class="memdesc:ga8db0a2ecb56789d5311172ce228b7740"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. <a href="group__immediatemode.html#ga8db0a2ecb56789d5311172ce228b7740">More...</a><br /></td></tr>
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<tr class="memitem:gab92fb9ab349962c5271c9644d3ec9f71"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gab92fb9ab349962c5271c9644d3ec9f71">PxCreateJointConstraintsWithShaders</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="el" href="classPxConstraint.html">PxConstraint</a> **constraints, <a class="el" href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a> *jointDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal dt, const PxReal invDt)</td></tr>
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<tr class="memdesc:gab92fb9ab349962c5271c9644d3ec9f71"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. <a href="group__immediatemode.html#gab92fb9ab349962c5271c9644d3ec9f71">More...</a><br /></td></tr>
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<tr class="memitem:ga9c55ff4fd977b9c0e3e0c629f5b32326"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga9c55ff4fd977b9c0e3e0c629f5b32326">PxCreateJointConstraintsWithImmediateShaders</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="el" href="structPxImmediateConstraint.html">PxImmediateConstraint</a> *constraints, <a class="el" href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a> *jointDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal dt, const PxReal invDt)</td></tr>
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<tr class="memdesc:ga9c55ff4fd977b9c0e3e0c629f5b32326"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediateConstraint* param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. <a href="group__immediatemode.html#ga9c55ff4fd977b9c0e3e0c629f5b32326">More...</a><br /></td></tr>
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<tr class="memitem:gae59ded2b77c594a690169036785f2ef5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gae59ded2b77c594a690169036785f2ef5">PxSolveConstraints</a> (const <a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, const <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *solverConstraintDescs, const <a class="el" href="structPxSolverBody.html">PxSolverBody</a> *solverBodies, <a class="el" href="classPxVec3.html">PxVec3</a> *linearMotionVelocity, <a class="el" href="classPxVec3.html">PxVec3</a> *angularMotionVelocity, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbSolverBodies, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbPositionIterations, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbVelocityIterations, const float dt=0.0f, const float invDt=0.0f, const PxU32 nbSolverArticulations=0, Dy::ArticulationV **solverArticulations=NULL)</td></tr>
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<tr class="memdesc:gae59ded2b77c594a690169036785f2ef5"><td class="mdescLeft"> </td><td class="mdescRight">Iteratively solves the set of constraints defined by the provided <a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> and <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> structures. Updates deltaVelocities inside the <a class="el" href="structPxSolverBody.html">PxSolverBody</a> structures. Produces resulting linear and angular motion velocities. <a href="group__immediatemode.html#gae59ded2b77c594a690169036785f2ef5">More...</a><br /></td></tr>
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<tr class="separator:gae59ded2b77c594a690169036785f2ef5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad743f4cb0eef3d3b166bfa0ff548ca5f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gad743f4cb0eef3d3b166bfa0ff548ca5f">PxIntegrateSolverBodies</a> (<a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> *solverBodyData, <a class="el" href="structPxSolverBody.html">PxSolverBody</a> *solverBody, const <a class="el" href="classPxVec3.html">PxVec3</a> *linearMotionVelocity, const <a class="el" href="classPxVec3.html">PxVec3</a> *angularMotionState, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodiesToIntegrate, const PxReal dt)</td></tr>
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<tr class="memdesc:gad743f4cb0eef3d3b166bfa0ff548ca5f"><td class="mdescLeft"> </td><td class="mdescRight">Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBodyData stores all the body's velocity data. <a href="group__immediatemode.html#gad743f4cb0eef3d3b166bfa0ff548ca5f">More...</a><br /></td></tr>
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<tr class="separator:gad743f4cb0eef3d3b166bfa0ff548ca5f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga43ee6393438e91aa05bb2790559104b7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga43ee6393438e91aa05bb2790559104b7">PxGenerateContacts</a> (const <a class="el" href="classPxGeometry.html">PxGeometry</a> *const *geom0, const <a class="el" href="classPxGeometry.html">PxGeometry</a> *const *geom1, const <a class="el" href="classPxTransform.html">PxTransform</a> *pose0, const <a class="el" href="classPxTransform.html">PxTransform</a> *pose1, <a class="el" href="structPxCache.html">PxCache</a> *contactCache, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbPairs, <a class="el" href="classPxContactRecorder.html">PxContactRecorder</a> &contactRecorder, const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, <a class="el" href="classPxCacheAllocator.html">PxCacheAllocator</a> &allocator)</td></tr>
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<tr class="memdesc:ga43ee6393438e91aa05bb2790559104b7"><td class="mdescLeft"> </td><td class="mdescRight">Performs contact generation for a given pair of geometries at the specified poses. Produced contacts are stored in the provided Gu::ContactBuffer. Information is cached in <a class="el" href="structPxCache.html" title="A structure to cache contact information produced by LL contact gen functions. ">PxCache</a> structure to accelerate future contact generation between pairs. This cache data is valid only as long as the memory provided by <a class="el" href="classPxCacheAllocator.html">PxCacheAllocator</a> has not been released/re-used. Recommendation is to retain that data for a single simulation frame, discarding cached data after 2 frames. If the cached memory has been released/re-used prior to the corresponding pair having contact generation performed again, it is the application's responsibility to reset the <a class="el" href="structPxCache.html" title="A structure to cache contact information produced by LL contact gen functions. ">PxCache</a>. <a href="group__immediatemode.html#ga43ee6393438e91aa05bb2790559104b7">More...</a><br /></td></tr>
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<tr class="separator:ga43ee6393438e91aa05bb2790559104b7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga6d8ad8d1a6156da1f4473d4ec4922016"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga6d8ad8d1a6156da1f4473d4ec4922016">PxRegisterImmediateArticulations</a> ()</td></tr>
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<tr class="memdesc:ga6d8ad8d1a6156da1f4473d4ec4922016"><td class="mdescLeft"> </td><td class="mdescRight">Register articulation-related solver functions. This is equivalent to <a class="el" href="group__physics.html#gafa22d81f1318ef3c37f1d746ac686c22" title="Enables the usage of the reduced coordinate articulations feature. This function is called automatica...">PxRegisterArticulationsReducedCoordinate()</a> for PxScene-level articulations. Call this first to enable reduced coordinates articulations in immediate mode. <a href="group__immediatemode.html#ga6d8ad8d1a6156da1f4473d4ec4922016">More...</a><br /></td></tr>
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<tr class="separator:ga6d8ad8d1a6156da1f4473d4ec4922016"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga86ececaefac85fdb67e6e46332eedc75"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> Dy::ArticulationV * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga86ececaefac85fdb67e6e46332eedc75">PxCreateFeatherstoneArticulation</a> (const <a class="el" href="structPxFeatherstoneArticulationData.html">PxFeatherstoneArticulationData</a> &data)</td></tr>
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<tr class="memdesc:ga86ececaefac85fdb67e6e46332eedc75"><td class="mdescLeft"> </td><td class="mdescRight">Creates an immediate-mode reduced-coordinate articulation. <a href="group__immediatemode.html#ga86ececaefac85fdb67e6e46332eedc75">More...</a><br /></td></tr>
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<tr class="separator:ga86ececaefac85fdb67e6e46332eedc75"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5df3edcbf7b639900668b49ff50eda22"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga5df3edcbf7b639900668b49ff50eda22">PxReleaseArticulation</a> (Dy::ArticulationV *articulation)</td></tr>
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<tr class="memdesc:ga5df3edcbf7b639900668b49ff50eda22"><td class="mdescLeft"> </td><td class="mdescRight">Releases an immediate-mode reduced-coordinate articulation. <a href="group__immediatemode.html#ga5df3edcbf7b639900668b49ff50eda22">More...</a><br /></td></tr>
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<tr class="separator:ga5df3edcbf7b639900668b49ff50eda22"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa29d46bee46ce200c9e8a2a6f353c0a1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gaa29d46bee46ce200c9e8a2a6f353c0a1">PxCreateArticulationCache</a> (Dy::ArticulationV *articulation)</td></tr>
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<tr class="memdesc:gaa29d46bee46ce200c9e8a2a6f353c0a1"><td class="mdescLeft"> </td><td class="mdescRight">Creates an articulation cache. <a href="group__immediatemode.html#gaa29d46bee46ce200c9e8a2a6f353c0a1">More...</a><br /></td></tr>
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<tr class="separator:gaa29d46bee46ce200c9e8a2a6f353c0a1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5d5ba6074b5169c269d7e4c56ac0467d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga5d5ba6074b5169c269d7e4c56ac0467d">PxCopyInternalStateToArticulationCache</a> (Dy::ArticulationV *articulation, <a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &cache, <a class="el" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a> flag)</td></tr>
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<tr class="memdesc:ga5d5ba6074b5169c269d7e4c56ac0467d"><td class="mdescLeft"> </td><td class="mdescRight">Copy the internal data of the articulation to the cache. <a href="group__immediatemode.html#ga5d5ba6074b5169c269d7e4c56ac0467d">More...</a><br /></td></tr>
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<tr class="separator:ga5d5ba6074b5169c269d7e4c56ac0467d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gadcdee80ca02f10c0e31a367c7d30ca91"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gadcdee80ca02f10c0e31a367c7d30ca91">PxApplyArticulationCache</a> (Dy::ArticulationV *articulation, <a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &cache, <a class="el" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a> flag)</td></tr>
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<tr class="memdesc:gadcdee80ca02f10c0e31a367c7d30ca91"><td class="mdescLeft"> </td><td class="mdescRight">Apply the user defined data in the cache to the articulation system. <a href="group__immediatemode.html#gadcdee80ca02f10c0e31a367c7d30ca91">More...</a><br /></td></tr>
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<tr class="separator:gadcdee80ca02f10c0e31a367c7d30ca91"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5189b5d63b22e3d7e1da1d94aa6854b7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga5189b5d63b22e3d7e1da1d94aa6854b7">PxReleaseArticulationCache</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &cache)</td></tr>
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<tr class="memdesc:ga5189b5d63b22e3d7e1da1d94aa6854b7"><td class="mdescLeft"> </td><td class="mdescRight">Release an articulation cache. <a href="group__immediatemode.html#ga5189b5d63b22e3d7e1da1d94aa6854b7">More...</a><br /></td></tr>
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<tr class="separator:ga5189b5d63b22e3d7e1da1d94aa6854b7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8c2749699d2f9e22cfb34ed83a7b80ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga8c2749699d2f9e22cfb34ed83a7b80ce">PxAddArticulationLink</a> (Dy::ArticulationV *articulation, const <a class="el" href="structPxFeatherstoneArticulationLinkData.html">PxFeatherstoneArticulationLinkData</a> &data, bool isLastLink=false)</td></tr>
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<tr class="memdesc:ga8c2749699d2f9e22cfb34ed83a7b80ce"><td class="mdescLeft"> </td><td class="mdescRight">Adds a link to an immediate-mode reduced-coordinate articulation. The articulation becomes the link's owner/parent. <a href="group__immediatemode.html#ga8c2749699d2f9e22cfb34ed83a7b80ce">More...</a><br /></td></tr>
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<tr class="separator:ga8c2749699d2f9e22cfb34ed83a7b80ce"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaee273e15ba5dbdb78948da2d2c64dc7f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> Dy::ArticulationV * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gaee273e15ba5dbdb78948da2d2c64dc7f">PxGetLinkArticulation</a> (const <a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link)</td></tr>
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<tr class="memdesc:gaee273e15ba5dbdb78948da2d2c64dc7f"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves owner/parent articulation handle from a link handle. <a href="group__immediatemode.html#gaee273e15ba5dbdb78948da2d2c64dc7f">More...</a><br /></td></tr>
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<tr class="separator:gaee273e15ba5dbdb78948da2d2c64dc7f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4371afa7be6b3dfd04fd94491b7ccf1e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga4371afa7be6b3dfd04fd94491b7ccf1e">PxGetLinkIndex</a> (const <a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link)</td></tr>
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<tr class="memdesc:ga4371afa7be6b3dfd04fd94491b7ccf1e"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves link index from a link handle. <a href="group__immediatemode.html#ga4371afa7be6b3dfd04fd94491b7ccf1e">More...</a><br /></td></tr>
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<tr class="separator:ga4371afa7be6b3dfd04fd94491b7ccf1e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga54ca8e8099a543250c31f23452e7bb07"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga54ca8e8099a543250c31f23452e7bb07">PxGetLinkData</a> (const <a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link, <a class="el" href="structPxLinkData.html">PxLinkData</a> &data)</td></tr>
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<tr class="memdesc:ga54ca8e8099a543250c31f23452e7bb07"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves non-mutable link data from a link handle. The data here is computed by the articulation code but cannot be directly changed by users. <a href="group__immediatemode.html#ga54ca8e8099a543250c31f23452e7bb07">More...</a><br /></td></tr>
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<tr class="separator:ga54ca8e8099a543250c31f23452e7bb07"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gae81a4356d18a396730d81d94f28bbd0e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gae81a4356d18a396730d81d94f28bbd0e">PxGetAllLinkData</a> (const Dy::ArticulationV *articulation, <a class="el" href="structPxLinkData.html">PxLinkData</a> *data)</td></tr>
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<tr class="memdesc:gae81a4356d18a396730d81d94f28bbd0e"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves non-mutable link data from an articulation handle (all links). The data here is computed by the articulation code but cannot be directly changed by users. <a href="group__immediatemode.html#gae81a4356d18a396730d81d94f28bbd0e">More...</a><br /></td></tr>
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<tr class="separator:gae81a4356d18a396730d81d94f28bbd0e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad77847bba5b58c7439d0c2463643d041"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gad77847bba5b58c7439d0c2463643d041">PxGetMutableLinkData</a> (const <a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link, <a class="el" href="structPxMutableLinkData.html">PxMutableLinkData</a> &data)</td></tr>
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<tr class="memdesc:gad77847bba5b58c7439d0c2463643d041"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves mutable link data from a link handle. <a href="group__immediatemode.html#gad77847bba5b58c7439d0c2463643d041">More...</a><br /></td></tr>
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<tr class="separator:gad77847bba5b58c7439d0c2463643d041"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga404f7b347df78a632073246c46c173ec"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga404f7b347df78a632073246c46c173ec">PxSetMutableLinkData</a> (<a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link, const <a class="el" href="structPxMutableLinkData.html">PxMutableLinkData</a> &data)</td></tr>
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<tr class="memdesc:ga404f7b347df78a632073246c46c173ec"><td class="mdescLeft"> </td><td class="mdescRight">Sets mutable link data for given link. <a href="group__immediatemode.html#ga404f7b347df78a632073246c46c173ec">More...</a><br /></td></tr>
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<tr class="separator:ga404f7b347df78a632073246c46c173ec"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8bdb9d1d481fad7a05c3dc9212c4f734"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga8bdb9d1d481fad7a05c3dc9212c4f734">PxGetJointData</a> (const <a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link, <a class="el" href="structPxFeatherstoneArticulationJointData.html">PxFeatherstoneArticulationJointData</a> &data)</td></tr>
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<tr class="memdesc:ga8bdb9d1d481fad7a05c3dc9212c4f734"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves joint data from a link handle. <a href="group__immediatemode.html#ga8bdb9d1d481fad7a05c3dc9212c4f734">More...</a><br /></td></tr>
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<tr class="separator:ga8bdb9d1d481fad7a05c3dc9212c4f734"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga29ab413fa60db236c4d9ef93081f6928"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga29ab413fa60db236c4d9ef93081f6928">PxSetJointData</a> (<a class="el" href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a> link, const <a class="el" href="structPxFeatherstoneArticulationJointData.html">PxFeatherstoneArticulationJointData</a> &data)</td></tr>
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<tr class="memdesc:ga29ab413fa60db236c4d9ef93081f6928"><td class="mdescLeft"> </td><td class="mdescRight">Sets joint data for given link. <a href="group__immediatemode.html#ga29ab413fa60db236c4d9ef93081f6928">More...</a><br /></td></tr>
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<tr class="separator:ga29ab413fa60db236c4d9ef93081f6928"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4d9bc901669de439d061962e7ab9509e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga4d9bc901669de439d061962e7ab9509e">PxComputeUnconstrainedVelocities</a> (Dy::ArticulationV *articulation, const <a class="el" href="classPxVec3.html">PxVec3</a> &gravity, const PxReal dt)</td></tr>
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<tr class="memdesc:ga4d9bc901669de439d061962e7ab9509e"><td class="mdescLeft"> </td><td class="mdescRight">Computes unconstrained velocities for a given articulation. <a href="group__immediatemode.html#ga4d9bc901669de439d061962e7ab9509e">More...</a><br /></td></tr>
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<tr class="memitem:gac31250973d5aca117634091dcf184ffc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gac31250973d5aca117634091dcf184ffc">PxUpdateArticulationBodies</a> (Dy::ArticulationV *articulation, const PxReal dt)</td></tr>
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<tr class="memdesc:gac31250973d5aca117634091dcf184ffc"><td class="mdescLeft"> </td><td class="mdescRight">Updates bodies for a given articulation. <a href="group__immediatemode.html#gac31250973d5aca117634091dcf184ffc">More...</a><br /></td></tr>
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<tr class="separator:gac31250973d5aca117634091dcf184ffc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0bae177a8cae93690234bdcb6a29e8d9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga0bae177a8cae93690234bdcb6a29e8d9">PxComputeUnconstrainedVelocitiesTGS</a> (Dy::ArticulationV *articulation, const <a class="el" href="classPxVec3.html">PxVec3</a> &gravity, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt)</td></tr>
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<tr class="memdesc:ga0bae177a8cae93690234bdcb6a29e8d9"><td class="mdescLeft"> </td><td class="mdescRight">Computes unconstrained velocities for a given articulation. <a href="group__immediatemode.html#ga0bae177a8cae93690234bdcb6a29e8d9">More...</a><br /></td></tr>
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<tr class="separator:ga0bae177a8cae93690234bdcb6a29e8d9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga167edbc51a6406fe313f2eaade4bc9d2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga167edbc51a6406fe313f2eaade4bc9d2">PxUpdateArticulationBodiesTGS</a> (Dy::ArticulationV *articulation, const PxReal dt)</td></tr>
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<tr class="memdesc:ga167edbc51a6406fe313f2eaade4bc9d2"><td class="mdescLeft"> </td><td class="mdescRight">Updates bodies for a given articulation. <a href="group__immediatemode.html#ga167edbc51a6406fe313f2eaade4bc9d2">More...</a><br /></td></tr>
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<tr class="separator:ga167edbc51a6406fe313f2eaade4bc9d2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaaa4db837c3284147da8c85356d969258"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gaaa4db837c3284147da8c85356d969258">PxConstructSolverBodiesTGS</a> (const <a class="el" href="structPxRigidBodyData.html">PxRigidBodyData</a> *inRigidData, <a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *outSolverBodyVel, <a class="el" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a> *outSolverBodyTxInertia, <a class="el" href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a> *outSolverBodyData, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, const <a class="el" href="classPxVec3.html">PxVec3</a> &gravity, const PxReal dt)</td></tr>
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<tr class="memdesc:gaaa4db837c3284147da8c85356d969258"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. <a href="group__immediatemode.html#gaaa4db837c3284147da8c85356d969258">More...</a><br /></td></tr>
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<tr class="separator:gaaa4db837c3284147da8c85356d969258"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2dc9fa88d851b81cb15e382060e27ec7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga2dc9fa88d851b81cb15e382060e27ec7">PxConstructStaticSolverBodyTGS</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &globalPose, <a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> &solverBodyVel, <a class="el" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a> &solverBodyTxInertia, <a class="el" href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a> &solverBodyData)</td></tr>
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<tr class="memdesc:ga2dc9fa88d851b81cb15e382060e27ec7"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> structure for a static body at a given pose. <a href="group__immediatemode.html#ga2dc9fa88d851b81cb15e382060e27ec7">More...</a><br /></td></tr>
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<tr class="separator:ga2dc9fa88d851b81cb15e382060e27ec7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga78e8a4101cc5ede158fd8ae7b9a9d13b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga78e8a4101cc5ede158fd8ae7b9a9d13b">PxBatchConstraintsTGS</a> (const <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *solverConstraintDescs, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbConstraints, <a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *solverBodies, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, <a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *outBatchHeaders, <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *outOrderedConstraintDescs, Dy::ArticulationV **articulations=NULL, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbArticulations=0)</td></tr>
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<tr class="memdesc:ga78e8a4101cc5ede158fd8ae7b9a9d13b"><td class="mdescLeft"> </td><td class="mdescRight">Groups together sets of independent <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> objects to be solved using SIMD SOA approach. <a href="group__immediatemode.html#ga78e8a4101cc5ede158fd8ae7b9a9d13b">More...</a><br /></td></tr>
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<tr class="separator:ga78e8a4101cc5ede158fd8ae7b9a9d13b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga81189e2221bba32ed064faf2769d9844"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga81189e2221bba32ed064faf2769d9844">PxCreateContactConstraintsTGS</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbHeaders, <a class="el" href="structPxTGSSolverContactDesc.html">PxTGSSolverContactDesc</a> *contactDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal invDt, const PxReal invTotalDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance)</td></tr>
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<tr class="memdesc:ga81189e2221bba32ed064faf2769d9844"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. <a href="group__immediatemode.html#ga81189e2221bba32ed064faf2769d9844">More...</a><br /></td></tr>
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<tr class="memitem:ga6c5323528d0de709b168178bf9ddb0ac"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga6c5323528d0de709b168178bf9ddb0ac">PxCreateJointConstraintsTGS</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbHeaders, <a class="el" href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a> *jointDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)</td></tr>
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<tr class="memdesc:ga6c5323528d0de709b168178bf9ddb0ac"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. <a href="group__immediatemode.html#ga6c5323528d0de709b168178bf9ddb0ac">More...</a><br /></td></tr>
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<tr class="separator:ga6c5323528d0de709b168178bf9ddb0ac"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga629b4a4c51411cad67e91991e74a1fa9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga629b4a4c51411cad67e91991e74a1fa9">PxCreateJointConstraintsWithShadersTGS</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="el" href="classPxConstraint.html">PxConstraint</a> **constraints, <a class="el" href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a> *jointDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)</td></tr>
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<tr class="memdesc:ga629b4a4c51411cad67e91991e74a1fa9"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. <a href="group__immediatemode.html#ga629b4a4c51411cad67e91991e74a1fa9">More...</a><br /></td></tr>
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<tr class="separator:ga629b4a4c51411cad67e91991e74a1fa9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab61d264d8d74cb67dbbe06b041bde7bd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gab61d264d8d74cb67dbbe06b041bde7bd">PxCreateJointConstraintsWithImmediateShadersTGS</a> (<a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="el" href="structPxImmediateConstraint.html">PxImmediateConstraint</a> *constraints, <a class="el" href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a> *jointDescs, <a class="el" href="classPxConstraintAllocator.html">PxConstraintAllocator</a> &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)</td></tr>
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<tr class="memdesc:gab61d264d8d74cb67dbbe06b041bde7bd"><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediateConstraint* param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. <a href="group__immediatemode.html#gab61d264d8d74cb67dbbe06b041bde7bd">More...</a><br /></td></tr>
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<tr class="memitem:ga650d7b45abd5412722bd0f226df3d246"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#ga650d7b45abd5412722bd0f226df3d246">PxSolveConstraintsTGS</a> (const <a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> *batchHeaders, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, const <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *solverConstraintDescs, <a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *solverBodies, <a class="el" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a> *txInertias, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbSolverBodies, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbPositionIterations, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbVelocityIterations, const float dt, const float invDt, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbSolverArticulations, Dy::ArticulationV **solverArticulations)</td></tr>
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<tr class="memdesc:ga650d7b45abd5412722bd0f226df3d246"><td class="mdescLeft"> </td><td class="mdescRight">Iteratively solves the set of constraints defined by the provided <a class="el" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a> and <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> structures. Updates deltaVelocities inside the <a class="el" href="structPxSolverBody.html">PxSolverBody</a> structures. Produces resulting linear and angular motion velocities. <a href="group__immediatemode.html#ga650d7b45abd5412722bd0f226df3d246">More...</a><br /></td></tr>
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<tr class="memitem:gabd1a23fee83c2fab66822275bbcf50bb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gaea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="el" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gabd1a23fee83c2fab66822275bbcf50bb">PxIntegrateSolverBodiesTGS</a> (<a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *solverBody, <a class="el" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a> *txInertia, <a class="el" href="classPxTransform.html">PxTransform</a> *poses, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodiesToIntegrate, const PxReal dt)</td></tr>
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<tr class="memdesc:gabd1a23fee83c2fab66822275bbcf50bb"><td class="mdescLeft"> </td><td class="mdescRight">Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBody stores all the body's velocity data. <a href="group__immediatemode.html#gabd1a23fee83c2fab66822275bbcf50bb">More...</a><br /></td></tr>
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