405 lines
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405 lines
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<div class="title">PxSolverConstraintPrepDesc Struct Reference</div> </div>
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<p><code>#include <<a class="el" href="PxSolverDefs_8h_source.html">PxSolverDefs.h</a>></code></p>
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Inheritance diagram for PxSolverConstraintPrepDesc:</div>
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Collaboration diagram for PxSolverConstraintPrepDesc:</div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a975b1c579bfe549cbef62a0e9dc91d2d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a975b1c579bfe549cbef62a0e9dc91d2d">PX_ALIGN</a> (16, <a class="el" href="structPx1DConstraint.html">Px1DConstraint</a> *rows)</td></tr>
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<tr class="memdesc:a975b1c579bfe549cbef62a0e9dc91d2d"><td class="mdescLeft"> </td><td class="mdescRight">The start of the constraint rows. <a href="#a975b1c579bfe549cbef62a0e9dc91d2d">More...</a><br /></td></tr>
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<tr class="separator:a975b1c579bfe549cbef62a0e9dc91d2d"><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="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:a70cd18a2d279f25baab00ef7838dec16"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a70cd18a2d279f25baab00ef7838dec16">numRows</a></td></tr>
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<tr class="memdesc:a70cd18a2d279f25baab00ef7838dec16"><td class="mdescLeft"> </td><td class="mdescRight">The number of rows. <a href="#a70cd18a2d279f25baab00ef7838dec16">More...</a><br /></td></tr>
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<tr class="separator:a70cd18a2d279f25baab00ef7838dec16"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afb5f4b0d0b54dffbe066d8f9471474a3"><td class="memItemLeft" align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#afb5f4b0d0b54dffbe066d8f9471474a3">linBreakForce</a></td></tr>
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<tr class="separator:afb5f4b0d0b54dffbe066d8f9471474a3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7239e20d064498417e90b7630c8a87e1"><td class="memItemLeft" align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a7239e20d064498417e90b7630c8a87e1">angBreakForce</a></td></tr>
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<tr class="memdesc:a7239e20d064498417e90b7630c8a87e1"><td class="mdescLeft"> </td><td class="mdescRight">Break forces. <a href="#a7239e20d064498417e90b7630c8a87e1">More...</a><br /></td></tr>
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<tr class="separator:a7239e20d064498417e90b7630c8a87e1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3988b4c1ee2db31ae8fb427bef2021c1"><td class="memItemLeft" align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a3988b4c1ee2db31ae8fb427bef2021c1">minResponseThreshold</a></td></tr>
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<tr class="memdesc:a3988b4c1ee2db31ae8fb427bef2021c1"><td class="mdescLeft"> </td><td class="mdescRight">The minimum response threshold. <a href="#a3988b4c1ee2db31ae8fb427bef2021c1">More...</a><br /></td></tr>
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<tr class="separator:a3988b4c1ee2db31ae8fb427bef2021c1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afcacb0bfb6ee3e939bade4d49e5ef4b0"><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#afcacb0bfb6ee3e939bade4d49e5ef4b0">writeback</a></td></tr>
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<tr class="memdesc:afcacb0bfb6ee3e939bade4d49e5ef4b0"><td class="mdescLeft"> </td><td class="mdescRight">Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL. <a href="#afcacb0bfb6ee3e939bade4d49e5ef4b0">More...</a><br /></td></tr>
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<tr class="separator:afcacb0bfb6ee3e939bade4d49e5ef4b0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7577dd31e280ee90740c321d452f88a9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a7577dd31e280ee90740c321d452f88a9">disablePreprocessing</a></td></tr>
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<tr class="memdesc:a7577dd31e280ee90740c321d452f88a9"><td class="mdescLeft"> </td><td class="mdescRight">Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities. <a href="#a7577dd31e280ee90740c321d452f88a9">More...</a><br /></td></tr>
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<tr class="separator:a7577dd31e280ee90740c321d452f88a9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3b7d111854e74252e892765ac4a3b3ad"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a3b7d111854e74252e892765ac4a3b3ad">improvedSlerp</a></td></tr>
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<tr class="memdesc:a3b7d111854e74252e892765ac4a3b3ad"><td class="mdescLeft"> </td><td class="mdescRight">Use improved slerp model. <a href="#a3b7d111854e74252e892765ac4a3b3ad">More...</a><br /></td></tr>
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<tr class="separator:a3b7d111854e74252e892765ac4a3b3ad"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:addb6a6a2962b8ce47ff7bf53db6f7759"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#addb6a6a2962b8ce47ff7bf53db6f7759">driveLimitsAreForces</a></td></tr>
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<tr class="memdesc:addb6a6a2962b8ce47ff7bf53db6f7759"><td class="mdescLeft"> </td><td class="mdescRight">Indicates whether drive limits are forces. <a href="#addb6a6a2962b8ce47ff7bf53db6f7759">More...</a><br /></td></tr>
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<tr class="memitem:a7dd4e0d49745651ea820b9ab93ff12c5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a7dd4e0d49745651ea820b9ab93ff12c5">extendedLimits</a></td></tr>
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<tr class="memdesc:a7dd4e0d49745651ea820b9ab93ff12c5"><td class="mdescLeft"> </td><td class="mdescRight">Indicates whether we want to use extended limits. <a href="#a7dd4e0d49745651ea820b9ab93ff12c5">More...</a><br /></td></tr>
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<tr class="memitem:a3a5cece8fd2221a2d154c2ca2398cf48"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a3a5cece8fd2221a2d154c2ca2398cf48">body0WorldOffset</a></td></tr>
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<tr class="memdesc:a3a5cece8fd2221a2d154c2ca2398cf48"><td class="mdescLeft"> </td><td class="mdescRight">Body0 world offset. <a href="#a3a5cece8fd2221a2d154c2ca2398cf48">More...</a><br /></td></tr>
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<tr class="separator:a3a5cece8fd2221a2d154c2ca2398cf48"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_attribs_structPxSolverConstraintPrepDescBase"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structPxSolverConstraintPrepDescBase')"><img src="closed.png" alt="-"/> Public Attributes inherited from <a class="el" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></td></tr>
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<tr class="memitem:a298a86d11c87a19bab4874d932f19188 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188">invMassScales</a></td></tr>
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<tr class="memdesc:a298a86d11c87a19bab4874d932f19188 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The local mass scaling for this pair. <a href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188">More...</a><br /></td></tr>
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<tr class="separator:a298a86d11c87a19bab4874d932f19188 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae6a7c6dbbf6ade521ca9f485fa70ecab inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab">desc</a></td></tr>
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<tr class="memdesc:ae6a7c6dbbf6ade521ca9f485fa70ecab inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">Output: The <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> filled in by contact prep. <a href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab">More...</a><br /></td></tr>
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<tr class="separator:ae6a7c6dbbf6ade521ca9f485fa70ecab inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a58839e53ce16cf2d9ec3a54ead955870 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBody.html">PxSolverBody</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870">body0</a></td></tr>
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<tr class="memdesc:a58839e53ce16cf2d9ec3a54ead955870 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The first body. Stores velocity information. Unused unless contact involves articulations. <a href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870">More...</a><br /></td></tr>
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<tr class="memitem:a6cc18f29a8da2a1e8d6af3e9fdce942c inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBody.html">PxSolverBody</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c">body1</a></td></tr>
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<tr class="memdesc:a6cc18f29a8da2a1e8d6af3e9fdce942c inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The second body. Stores velocity information. Unused unless contact involves articulations. <a href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c">More...</a><br /></td></tr>
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<tr class="memitem:ad58b181d4ac418941bddfd3ce8065a10 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10">data0</a></td></tr>
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<tr class="memdesc:ad58b181d4ac418941bddfd3ce8065a10 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The first <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a>. Stores mass and miscellaneous information for the first body. <a href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10">More...</a><br /></td></tr>
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<tr class="memitem:aeeffe63a1a4b9f7b3a822b0f2d99a62d inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d">data1</a></td></tr>
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<tr class="memdesc:aeeffe63a1a4b9f7b3a822b0f2d99a62d inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The second <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a>. Stores mass and miscellaneous information for the second body. <a href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d">More...</a><br /></td></tr>
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<tr class="separator:aeeffe63a1a4b9f7b3a822b0f2d99a62d inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a251d9872155e952dcdd7dec21b9471a3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxTransform.html">PxTransform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3">bodyFrame0</a></td></tr>
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<tr class="memdesc:a251d9872155e952dcdd7dec21b9471a3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The world-space transform of the first body. <a href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3">More...</a><br /></td></tr>
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<tr class="memitem:a043bdbd0966b02478725edcb027a9819 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxTransform.html">PxTransform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819">bodyFrame1</a></td></tr>
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<tr class="memdesc:a043bdbd0966b02478725edcb027a9819 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: The world-space transform of the second body. <a href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819">More...</a><br /></td></tr>
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<tr class="separator:a043bdbd0966b02478725edcb027a9819 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4173f8c3d6662232720fdd99c9f65b9e inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e">bodyState0</a></td></tr>
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<tr class="memdesc:a4173f8c3d6662232720fdd99c9f65b9e inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: Defines what kind of actor the first body is. <a href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e">More...</a><br /></td></tr>
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<tr class="memitem:a6f2321b7e28076c3b14e30c0c9f9bdf3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3">bodyState1</a></td></tr>
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<tr class="memdesc:a6f2321b7e28076c3b14e30c0c9f9bdf3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft"> </td><td class="mdescRight">In: Defines what kind of actor the second body is. <a href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3">More...</a><br /></td></tr>
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Additional Inherited Members</h2></td></tr>
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<tr class="inherit_header pub_types_structPxSolverConstraintPrepDescBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structPxSolverConstraintPrepDescBase')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></td></tr>
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<tr class="memitem:afadce7bc6a74c62a91c1876aa34e9a4f inherit pub_types_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a> { <a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa6f030c0742671e6fe38c87ff48eba4ca">eDYNAMIC_BODY</a> = 1 << 0,
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<a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa558ab36462aa417f686f03eabf3db6b3">eSTATIC_BODY</a> = 1 << 1,
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<a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa60a5b498ccb90a2f703fb277b7784807">eKINEMATIC_BODY</a> = 1 << 2,
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<a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa55d8f5d447451c19b05290583597ce1c">eARTICULATION</a> = 1 << 3
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}</td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a975b1c579bfe549cbef62a0e9dc91d2d">◆ </a></span>PX_ALIGN()</h2>
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<td class="paramtype"><a class="el" href="structPx1DConstraint.html">Px1DConstraint</a> * </td>
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<p>The start of the constraint rows. </p>
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<p>Break forces. </p>
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<p>Body0 world offset. </p>
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<p>Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities. </p>
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<p>Indicates whether drive limits are forces. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7dd4e0d49745651ea820b9ab93ff12c5">◆ </a></span>extendedLimits</h2>
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<p>Indicates whether we want to use extended limits. </p>
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<p>Use improved slerp model. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3988b4c1ee2db31ae8fb427bef2021c1">◆ </a></span>minResponseThreshold</h2>
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<p>The minimum response threshold. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a70cd18a2d279f25baab00ef7838dec16">◆ </a></span>numRows</h2>
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<td class="memname"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> PxSolverConstraintPrepDesc::numRows</td>
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<p>The number of rows. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#afcacb0bfb6ee3e939bade4d49e5ef4b0">◆ </a></span>writeback</h2>
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<p>Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL. </p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
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<li><a class="el" href="PxSolverDefs_8h_source.html">PxSolverDefs.h</a></li>
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<li class="footer">Copyright © 2008-2021 NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, CA 95051 U.S.A. All rights reserved. <a href="http://www.nvidia.com ">www.nvidia.com</a></li>
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