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<p>A constraint.
<a href="structPx1DConstraint.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="PxConstraintDesc_8h_source.html">PxConstraintDesc.h</a>&gt;</code></p>
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Public Attributes</h2></td></tr>
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<tr class="memdesc:ac56cab2d459ade70824f04821404889c"><td class="mdescLeft">&#160;</td><td class="mdescRight">linear component of velocity jacobian in world space <a href="#ac56cab2d459ade70824f04821404889c">More...</a><br /></td></tr>
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<tr class="memitem:ae3ad7c8d4370c7b26634bd8e5046ba9a"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#ae3ad7c8d4370c7b26634bd8e5046ba9a">geometricError</a></td></tr>
<tr class="memdesc:ae3ad7c8d4370c7b26634bd8e5046ba9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric error of the constraint along this axis <a href="#ae3ad7c8d4370c7b26634bd8e5046ba9a">More...</a><br /></td></tr>
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<tr class="memdesc:afaf3f8a6b645f3b48c123ab94016b1c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">angular component of velocity jacobian in world space <a href="#afaf3f8a6b645f3b48c123ab94016b1c2">More...</a><br /></td></tr>
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<tr class="memdesc:a467f316062f0cb43f525bfbda8debfa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">velocity target for the constraint along this axis <a href="#a467f316062f0cb43f525bfbda8debfa5">More...</a><br /></td></tr>
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<tr class="memdesc:a9523a9ebd2707f8d442ca4a0bf4da573"><td class="mdescLeft">&#160;</td><td class="mdescRight">linear component of velocity jacobian in world space <a href="#a9523a9ebd2707f8d442ca4a0bf4da573">More...</a><br /></td></tr>
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<tr class="memitem:ac551561bbc886a7da26567e4f9cf4ce4"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#ac551561bbc886a7da26567e4f9cf4ce4">minImpulse</a></td></tr>
<tr class="memdesc:ac551561bbc886a7da26567e4f9cf4ce4"><td class="mdescLeft">&#160;</td><td class="mdescRight">minimum impulse the solver may apply to enforce this constraint <a href="#ac551561bbc886a7da26567e4f9cf4ce4">More...</a><br /></td></tr>
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<tr class="memdesc:ab7a1efaff54cb4d2fd6e3e7cc01a2503"><td class="mdescLeft">&#160;</td><td class="mdescRight">angular component of velocity jacobian in world space <a href="#ab7a1efaff54cb4d2fd6e3e7cc01a2503">More...</a><br /></td></tr>
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<tr class="memdesc:ad4a0113d0c4cf939f9abc3df65120848"><td class="mdescLeft">&#160;</td><td class="mdescRight">maximum impulse the solver may apply to enforce this constraint <a href="#ad4a0113d0c4cf939f9abc3df65120848">More...</a><br /></td></tr>
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<tr class="memitem:a1d6fb39145a651f0c145224722bdd650"><td class="memItemLeft" >union {</td></tr>
<tr class="memitem:a1f92720b48a06193ee1ccea521d7d5ea"><td class="memItemLeft" >&#160;&#160;&#160;struct <b>SpringModifiers</b> {</td></tr>
<tr class="memitem:abd9749d81c37bca185276a2da776ce34"><td class="memItemLeft" >&#160;&#160;&#160;&#160;&#160;&#160;PxReal&#160;&#160;&#160;<a class="el" href="structPx1DConstraint.html#a5bbb41ebffef415b52f7ee3b17b24e9e">stiffness</a></td></tr>
<tr class="memdesc:abd9749d81c37bca185276a2da776ce34"><td class="mdescLeft">&#160;</td><td class="mdescRight">spring parameter, for spring constraints <a href="#abd9749d81c37bca185276a2da776ce34">More...</a><br /></td></tr>
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<tr class="memitem:a4f75cb3544fa374c7a0ff577f86bf677"><td class="memItemLeft" >&#160;&#160;&#160;&#160;&#160;&#160;PxReal&#160;&#160;&#160;<a class="el" href="structPx1DConstraint.html#ac5dc79c3d9b9f4c81ffb4ec77941fb40">damping</a></td></tr>
<tr class="memdesc:a4f75cb3544fa374c7a0ff577f86bf677"><td class="mdescLeft">&#160;</td><td class="mdescRight">damping parameter, for spring constraints <a href="#a4f75cb3544fa374c7a0ff577f86bf677">More...</a><br /></td></tr>
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<tr class="memitem:a1f92720b48a06193ee1ccea521d7d5ea"><td class="memItemLeft" valign="top">&#160;&#160;&#160;}&#160;&#160;&#160;<a class="el" href="structPx1DConstraint.html#a3fb75660dac72bb241a54056873c028b">spring</a></td></tr>
<tr class="separator:a1f92720b48a06193ee1ccea521d7d5ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a110bbefbf716bfa029c965bcf1a99a8f"><td class="memItemLeft" >&#160;&#160;&#160;struct <b>RestitutionModifiers</b> {</td></tr>
<tr class="memitem:a1529ebce7743c3d717b8bfda6a2a2872"><td class="memItemLeft" >&#160;&#160;&#160;&#160;&#160;&#160;PxReal&#160;&#160;&#160;<a class="el" href="structPx1DConstraint.html#a913d1b17c7ed6bb8ae18e5fd6135c103">restitution</a></td></tr>
<tr class="memdesc:a1529ebce7743c3d717b8bfda6a2a2872"><td class="mdescLeft">&#160;</td><td class="mdescRight">restitution parameter for determining additional "bounce" <a href="#a1529ebce7743c3d717b8bfda6a2a2872">More...</a><br /></td></tr>
<tr class="separator:a1529ebce7743c3d717b8bfda6a2a2872"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e1f16d24701cfdfd3f1dd5b64c9773f"><td class="memItemLeft" >&#160;&#160;&#160;&#160;&#160;&#160;PxReal&#160;&#160;&#160;<a class="el" href="structPx1DConstraint.html#a01a90f96995025e7d3216c50b4506c0b">velocityThreshold</a></td></tr>
<tr class="memdesc:a6e1f16d24701cfdfd3f1dd5b64c9773f"><td class="mdescLeft">&#160;</td><td class="mdescRight">minimum impact velocity for bounce <a href="#a6e1f16d24701cfdfd3f1dd5b64c9773f">More...</a><br /></td></tr>
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<tr class="memitem:a110bbefbf716bfa029c965bcf1a99a8f"><td class="memItemLeft" valign="top">&#160;&#160;&#160;}&#160;&#160;&#160;<a class="el" href="structPx1DConstraint.html#a387a6f2c771a16baacec65616ed8ebab">bounce</a></td></tr>
<tr class="separator:a110bbefbf716bfa029c965bcf1a99a8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d6fb39145a651f0c145224722bdd650"><td class="memItemLeft" valign="top">}&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#a1d6fb39145a651f0c145224722bdd650">mods</a></td></tr>
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<tr class="memitem:afe3ef2ec367fddacd4cbb925efd1f8be"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#afe3ef2ec367fddacd4cbb925efd1f8be">forInternalUse</a></td></tr>
<tr class="memdesc:afe3ef2ec367fddacd4cbb925efd1f8be"><td class="mdescLeft">&#160;</td><td class="mdescRight">for internal use only <a href="#afe3ef2ec367fddacd4cbb925efd1f8be">More...</a><br /></td></tr>
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<tr class="memitem:a4fa4372a941804afe9cb779e5fdabd34"><td class="memItemLeft" align="right" valign="top">PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#a4fa4372a941804afe9cb779e5fdabd34">flags</a></td></tr>
<tr class="memdesc:a4fa4372a941804afe9cb779e5fdabd34"><td class="mdescLeft">&#160;</td><td class="mdescRight">a set of Px1DConstraintFlags <a href="#a4fa4372a941804afe9cb779e5fdabd34">More...</a><br /></td></tr>
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<tr class="memitem:a6c9b5b544322e92ba2c072f159770cd4"><td class="memItemLeft" align="right" valign="top">PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#a6c9b5b544322e92ba2c072f159770cd4">solveHint</a></td></tr>
<tr class="memdesc:a6c9b5b544322e92ba2c072f159770cd4"><td class="mdescLeft">&#160;</td><td class="mdescRight">constraint optimization hint, should be an element of <a class="el" href="structPxConstraintSolveHint.html" title="constraint type hints which the solver uses to optimize constraint handling ">PxConstraintSolveHint</a> <a href="#a6c9b5b544322e92ba2c072f159770cd4">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A constraint. </p>
<p>A constraint is expressed as a set of 1-dimensional constraint rows which define the required constraint on the objects' velocities.</p>
<p>Each constraint is either a hard constraint or a spring. We define the velocity at the constraint to be the quantity</p>
<p>v = body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1)</p>
<p>For a hard constraint, the solver attempts to generate</p>
<p>1. a set of velocities for the objects which, when integrated, respect the constraint errors:</p>
<p>v + (geometricError / timestep) = velocityTarget</p>
<p>2. a set of velocities for the objects which respect the constraints:</p>
<p>v = velocityTarget</p>
<p>Hard constraints support restitution: if the impact velocity exceeds the bounce threshold, then the target velocity of the constraint will be set to restitution * -v</p>
<p>Alternatively, the solver can attempt to resolve the velocity constraint as an implicit spring:</p>
<p>F = stiffness * -geometricError + damping * (velocityTarget - v)</p>
<p>where F is the constraint force or acceleration. Springs are fully implicit: that is, the force or acceleration is a function of the position and velocity after the solve.</p>
<p>All constraints support limits on the minimum or maximum impulse applied. </p>
</div><h2 class="groupheader">Member Data Documentation</h2>
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<p>angular component of velocity jacobian in world space </p>
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<p>angular component of velocity jacobian in world space </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a387a6f2c771a16baacec65616ed8ebab">&#9670;&nbsp;</a></span>bounce</h2>
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<td class="memname">struct { ... } ::RestitutionModifiers Px1DConstraint::bounce</td>
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<p>damping parameter, for spring constraints </p>
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<p>a set of Px1DConstraintFlags </p>
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<p>for internal use only </p>
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<p>geometric error of the constraint along this axis </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac56cab2d459ade70824f04821404889c">&#9670;&nbsp;</a></span>linear0</h2>
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<td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> Px1DConstraint::linear0</td>
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<p>linear component of velocity jacobian in world space </p>
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<td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> Px1DConstraint::linear1</td>
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<p>linear component of velocity jacobian in world space </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad4a0113d0c4cf939f9abc3df65120848">&#9670;&nbsp;</a></span>maxImpulse</h2>
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<td class="memname">PxReal Px1DConstraint::maxImpulse</td>
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<p>maximum impulse the solver may apply to enforce this constraint </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac551561bbc886a7da26567e4f9cf4ce4">&#9670;&nbsp;</a></span>minImpulse</h2>
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<td class="memname">PxReal Px1DConstraint::minImpulse</td>
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<p>minimum impulse the solver may apply to enforce this constraint </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1d6fb39145a651f0c145224722bdd650">&#9670;&nbsp;</a></span>mods</h2>
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<td class="memname">union { ... } Px1DConstraint::mods</td>
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<td class="memname">PxReal Px1DConstraint::restitution</td>
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<p>restitution parameter for determining additional "bounce" </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6c9b5b544322e92ba2c072f159770cd4">&#9670;&nbsp;</a></span>solveHint</h2>
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<td class="memname">PxU16 Px1DConstraint::solveHint</td>
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<p>constraint optimization hint, should be an element of <a class="el" href="structPxConstraintSolveHint.html" title="constraint type hints which the solver uses to optimize constraint handling ">PxConstraintSolveHint</a> </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3fb75660dac72bb241a54056873c028b">&#9670;&nbsp;</a></span>spring</h2>
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<td class="memname">struct { ... } ::SpringModifiers Px1DConstraint::spring</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a5bbb41ebffef415b52f7ee3b17b24e9e">&#9670;&nbsp;</a></span>stiffness</h2>
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<td class="memname">PxReal Px1DConstraint::stiffness</td>
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<p>spring parameter, for spring constraints </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a467f316062f0cb43f525bfbda8debfa5">&#9670;&nbsp;</a></span>velocityTarget</h2>
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<td class="memname">PxReal Px1DConstraint::velocityTarget</td>
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<p>velocity target for the constraint along this axis </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a01a90f96995025e7d3216c50b4506c0b">&#9670;&nbsp;</a></span>velocityThreshold</h2>
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<td class="memname">PxReal Px1DConstraint::velocityThreshold</td>
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<p>minimum impact velocity for bounce </p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
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