diff options
Diffstat (limited to 'PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html')
| -rw-r--r-- | PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html | 423 |
1 files changed, 423 insertions, 0 deletions
diff --git a/PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html b/PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html new file mode 100644 index 00000000..5e801146 --- /dev/null +++ b/PhysX_3.4/Documentation/PhysXAPI/files/structPx1DConstraint.html @@ -0,0 +1,423 @@ +<html> + <head> + <title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: Px1DConstraint Struct Reference</title> + <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> + <LINK HREF="NVIDIA.css" REL="stylesheet" TYPE="text/css"> + </head> + + <body bgcolor="#FFFFFF"> + <div id="header"> + <hr class="first"> + <img alt="" src="images/PhysXlogo.png" align="middle"> <br> + <center> + <a class="qindex" href="main.html">Main Page</a> + <a class="qindex" href="hierarchy.html">Class Hierarchy</a> + <a class="qindex" href="annotated.html">Compound List</a> + <a class="qindex" href="functions.html">Compound Members</a> + </center> + <hr class="second"> + </div> +<!-- Generated by Doxygen 1.5.8 --> +<div class="contents"> +<h1>Px1DConstraint Struct Reference<br> +<small> +[<a class="el" href="group__physics.html">Physics</a>]</small> +</h1><!-- doxytag: class="Px1DConstraint" -->A constraint. +<a href="#_details">More...</a> +<p> +<code>#include <<a class="el" href="PxConstraintDesc_8h-source.html">PxConstraintDesc.h</a>></code> +<p> +<div class="dynheader"> +Collaboration diagram for Px1DConstraint:</div> +<div class="dynsection"> +<p><center><img src="structPx1DConstraint__coll__graph.png" border="0" usemap="#Px1DConstraint__coll__map" alt="Collaboration graph"></center> +<map name="Px1DConstraint__coll__map"> +<area shape="rect" href="classPxVec3.html" title="3 Element vector class." alt="PxVec3" coords="31,16,84,37"></map> +<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div> + +<p> +<a href="structPx1DConstraint-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0"> +<tr><td></td></tr> +<tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#c56cab2d459ade70824f04821404889c">linear0</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">linear component of velocity jacobian in world space <a href="#c56cab2d459ade70824f04821404889c"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#e3ad7c8d4370c7b26634bd8e5046ba9a">geometricError</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">geometric error of the constraint along this axis <a href="#e3ad7c8d4370c7b26634bd8e5046ba9a"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#faf3f8a6b645f3b48c123ab94016b1c2">angular0</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">angular component of velocity jacobian in world space <a href="#faf3f8a6b645f3b48c123ab94016b1c2"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#467f316062f0cb43f525bfbda8debfa5">velocityTarget</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">velocity target for the constraint along this axis <a href="#467f316062f0cb43f525bfbda8debfa5"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#9523a9ebd2707f8d442ca4a0bf4da573">linear1</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">linear component of velocity jacobian in world space <a href="#9523a9ebd2707f8d442ca4a0bf4da573"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#c551561bbc886a7da26567e4f9cf4ce4">minImpulse</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">minimum impulse the solver may apply to enforce this constraint <a href="#c551561bbc886a7da26567e4f9cf4ce4"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#b7a1efaff54cb4d2fd6e3e7cc01a2503">angular1</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">angular component of velocity jacobian in world space <a href="#b7a1efaff54cb4d2fd6e3e7cc01a2503"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#d4a0113d0c4cf939f9abc3df65120848">maxImpulse</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">maximum impulse the solver may apply to enforce this constraint <a href="#d4a0113d0c4cf939f9abc3df65120848"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap>union {</td></tr> + +<tr><td class="memItemLeft" nowrap> struct <b>SpringModifiers</b> {</td></tr> + +<tr><td class="memItemLeft" nowrap> PxReal <a class="el" href="structPx1DConstraint.html#5bbb41ebffef415b52f7ee3b17b24e9e">stiffness</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">spring parameter, for spring constraints <a href="#5e830563d2926d83faaccb57f810f09a"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap> PxReal <a class="el" href="structPx1DConstraint.html#c5dc79c3d9b9f4c81ffb4ec77941fb40">damping</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">damping parameter, for spring constraints <a href="#6bf510f12803cb7491441ed4634595b6"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap valign="top"> } <a class="el" href="structPx1DConstraint.html#68483150fe11cb126225ffc67f688a04">spring</a></td></tr> + +<tr><td class="memItemLeft" nowrap> struct <b>RestitutionModifiers</b> {</td></tr> + +<tr><td class="memItemLeft" nowrap> PxReal <a class="el" href="structPx1DConstraint.html#913d1b17c7ed6bb8ae18e5fd6135c103">restitution</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">restitution parameter for determining additional "bounce" <a href="#9312fb0d3b1e0555b250c0ea605ffd7a"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap> PxReal <a class="el" href="structPx1DConstraint.html#01a90f96995025e7d3216c50b4506c0b">velocityThreshold</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">minimum impact velocity for bounce <a href="#488728bc6923bb34df5fc4ed8c42a5ad"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap valign="top"> } <a class="el" href="structPx1DConstraint.html#9f6a2f4a7bf1213918daa9adbc79f881">bounce</a></td></tr> + +<tr><td class="memItemLeft" nowrap valign="top">} </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#ff885a257f35f0b0035af6270a49a3ed">mods</a></td></tr> + +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#fe3ef2ec367fddacd4cbb925efd1f8be">forInternalUse</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">for internal use only <a href="#fe3ef2ec367fddacd4cbb925efd1f8be"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxU16 </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#4fa4372a941804afe9cb779e5fdabd34">flags</a></td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">a set of Px1DConstraintFlags <a href="#4fa4372a941804afe9cb779e5fdabd34"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PxU16 </td><td class="memItemRight" valign="bottom"><a class="el" href="structPx1DConstraint.html#6c9b5b544322e92ba2c072f159770cd4">solveHint</a></td></tr> + +<tr><td class="mdescLeft"> </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="#6c9b5b544322e92ba2c072f159770cd4"></a><br></td></tr> +</table> +<hr><a name="_details"></a><h2>Detailed Description</h2> +A constraint. +<p> +A constraint is expressed as a set of 1-dimensional constraint rows which define the required constraint on the objects' velocities.<p> +Each constraint is either a hard constraint or a spring. We define the velocity at the constraint to be the quantity<p> +v = body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1)<p> +For a hard constraint, the solver attempts to generate<p> +1. a set of velocities for the objects which, when integrated, respect the constraint errors:<p> +v + (geometricError / timestep) = velocityTarget<p> +2. a set of velocities for the objects which respect the constraints:<p> +v = velocityTarget<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> +Alternatively, the solver can attempt to resolve the velocity constraint as an implicit spring:<p> +F = stiffness * -geometricError + damping * (velocityTarget - v)<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> +All constraints support limits on the minimum or maximum impulse applied. <hr><h2>Member Data Documentation</h2> +<a class="anchor" name="faf3f8a6b645f3b48c123ab94016b1c2"></a><!-- doxytag: member="Px1DConstraint::angular0" ref="faf3f8a6b645f3b48c123ab94016b1c2" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> <a class="el" href="structPx1DConstraint.html#faf3f8a6b645f3b48c123ab94016b1c2">Px1DConstraint::angular0</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +angular component of velocity jacobian in world space +<p> + +</div> +</div><p> +<a class="anchor" name="b7a1efaff54cb4d2fd6e3e7cc01a2503"></a><!-- doxytag: member="Px1DConstraint::angular1" ref="b7a1efaff54cb4d2fd6e3e7cc01a2503" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> <a class="el" href="structPx1DConstraint.html#b7a1efaff54cb4d2fd6e3e7cc01a2503">Px1DConstraint::angular1</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +angular component of velocity jacobian in world space +<p> + +</div> +</div><p> +<a class="anchor" name="9f6a2f4a7bf1213918daa9adbc79f881"></a><!-- doxytag: member="Px1DConstraint::bounce" ref="9f6a2f4a7bf1213918daa9adbc79f881" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">struct { ... } ::RestitutionModifiers <a class="el" href="structPx1DConstraint.html#9f6a2f4a7bf1213918daa9adbc79f881">Px1DConstraint::bounce</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> + +</div> +</div><p> +<a class="anchor" name="c5dc79c3d9b9f4c81ffb4ec77941fb40"></a><!-- doxytag: member="Px1DConstraint::damping" ref="c5dc79c3d9b9f4c81ffb4ec77941fb40" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#c5dc79c3d9b9f4c81ffb4ec77941fb40">Px1DConstraint::damping</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +damping parameter, for spring constraints +<p> + +</div> +</div><p> +<a class="anchor" name="4fa4372a941804afe9cb779e5fdabd34"></a><!-- doxytag: member="Px1DConstraint::flags" ref="4fa4372a941804afe9cb779e5fdabd34" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxU16 <a class="el" href="structPx1DConstraint.html#4fa4372a941804afe9cb779e5fdabd34">Px1DConstraint::flags</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +a set of Px1DConstraintFlags +<p> + +</div> +</div><p> +<a class="anchor" name="fe3ef2ec367fddacd4cbb925efd1f8be"></a><!-- doxytag: member="Px1DConstraint::forInternalUse" ref="fe3ef2ec367fddacd4cbb925efd1f8be" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#fe3ef2ec367fddacd4cbb925efd1f8be">Px1DConstraint::forInternalUse</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +for internal use only +<p> + +</div> +</div><p> +<a class="anchor" name="e3ad7c8d4370c7b26634bd8e5046ba9a"></a><!-- doxytag: member="Px1DConstraint::geometricError" ref="e3ad7c8d4370c7b26634bd8e5046ba9a" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#e3ad7c8d4370c7b26634bd8e5046ba9a">Px1DConstraint::geometricError</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +geometric error of the constraint along this axis +<p> + +</div> +</div><p> +<a class="anchor" name="c56cab2d459ade70824f04821404889c"></a><!-- doxytag: member="Px1DConstraint::linear0" ref="c56cab2d459ade70824f04821404889c" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> <a class="el" href="structPx1DConstraint.html#c56cab2d459ade70824f04821404889c">Px1DConstraint::linear0</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +linear component of velocity jacobian in world space +<p> + +</div> +</div><p> +<a class="anchor" name="9523a9ebd2707f8d442ca4a0bf4da573"></a><!-- doxytag: member="Px1DConstraint::linear1" ref="9523a9ebd2707f8d442ca4a0bf4da573" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> <a class="el" href="structPx1DConstraint.html#9523a9ebd2707f8d442ca4a0bf4da573">Px1DConstraint::linear1</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +linear component of velocity jacobian in world space +<p> + +</div> +</div><p> +<a class="anchor" name="d4a0113d0c4cf939f9abc3df65120848"></a><!-- doxytag: member="Px1DConstraint::maxImpulse" ref="d4a0113d0c4cf939f9abc3df65120848" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#d4a0113d0c4cf939f9abc3df65120848">Px1DConstraint::maxImpulse</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +maximum impulse the solver may apply to enforce this constraint +<p> + +</div> +</div><p> +<a class="anchor" name="c551561bbc886a7da26567e4f9cf4ce4"></a><!-- doxytag: member="Px1DConstraint::minImpulse" ref="c551561bbc886a7da26567e4f9cf4ce4" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#c551561bbc886a7da26567e4f9cf4ce4">Px1DConstraint::minImpulse</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +minimum impulse the solver may apply to enforce this constraint +<p> + +</div> +</div><p> +<a class="anchor" name="ff885a257f35f0b0035af6270a49a3ed"></a><!-- doxytag: member="Px1DConstraint::mods" ref="ff885a257f35f0b0035af6270a49a3ed" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">union { ... } <a class="el" href="structPx1DConstraint.html#ff885a257f35f0b0035af6270a49a3ed">Px1DConstraint::mods</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> + +</div> +</div><p> +<a class="anchor" name="913d1b17c7ed6bb8ae18e5fd6135c103"></a><!-- doxytag: member="Px1DConstraint::restitution" ref="913d1b17c7ed6bb8ae18e5fd6135c103" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#913d1b17c7ed6bb8ae18e5fd6135c103">Px1DConstraint::restitution</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +restitution parameter for determining additional "bounce" +<p> + +</div> +</div><p> +<a class="anchor" name="6c9b5b544322e92ba2c072f159770cd4"></a><!-- doxytag: member="Px1DConstraint::solveHint" ref="6c9b5b544322e92ba2c072f159770cd4" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxU16 <a class="el" href="structPx1DConstraint.html#6c9b5b544322e92ba2c072f159770cd4">Px1DConstraint::solveHint</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<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> + +</div> +</div><p> +<a class="anchor" name="68483150fe11cb126225ffc67f688a04"></a><!-- doxytag: member="Px1DConstraint::spring" ref="68483150fe11cb126225ffc67f688a04" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">struct { ... } ::SpringModifiers <a class="el" href="structPx1DConstraint.html#68483150fe11cb126225ffc67f688a04">Px1DConstraint::spring</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> + +</div> +</div><p> +<a class="anchor" name="5bbb41ebffef415b52f7ee3b17b24e9e"></a><!-- doxytag: member="Px1DConstraint::stiffness" ref="5bbb41ebffef415b52f7ee3b17b24e9e" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#5bbb41ebffef415b52f7ee3b17b24e9e">Px1DConstraint::stiffness</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +spring parameter, for spring constraints +<p> + +</div> +</div><p> +<a class="anchor" name="467f316062f0cb43f525bfbda8debfa5"></a><!-- doxytag: member="Px1DConstraint::velocityTarget" ref="467f316062f0cb43f525bfbda8debfa5" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#467f316062f0cb43f525bfbda8debfa5">Px1DConstraint::velocityTarget</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +velocity target for the constraint along this axis +<p> + +</div> +</div><p> +<a class="anchor" name="01a90f96995025e7d3216c50b4506c0b"></a><!-- doxytag: member="Px1DConstraint::velocityThreshold" ref="01a90f96995025e7d3216c50b4506c0b" args="" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PxReal <a class="el" href="structPx1DConstraint.html#01a90f96995025e7d3216c50b4506c0b">Px1DConstraint::velocityThreshold</a> </td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +minimum impact velocity for bounce +<p> + +</div> +</div><p> +<hr>The documentation for this struct was generated from the following file:<ul> +<li><a class="el" href="PxConstraintDesc_8h-source.html">PxConstraintDesc.h</a></ul> +</div> + +<hr style="width: 100%; height: 2px;"><br> +Copyright © 2008-2016 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. <a href="http://www.nvidia.com ">www.nvidia.com</a> +</body> +</html> |