Function physx_sys::PxArticulationReducedCoordinate_commonInit

source · 
pub unsafe extern "C" fn PxArticulationReducedCoordinate_commonInit(
    self_: *const PxArticulationReducedCoordinate
)
Expand description

Prepares common articulation data based on articulation pose for inverse dynamics calculations.

Usage:

  1. Set articulation pose (joint positions and base transform) via articulation cache and applyCache().
  2. Call commonInit.
  3. Call inverse dynamics computation method.

This call may only be made on articulations that are in a scene, and may not be made during simulation.