Function physx_sys::PxArticulationReducedCoordinate_computeGeneralizedExternalForce

source · 
pub unsafe extern "C" fn PxArticulationReducedCoordinate_computeGeneralizedExternalForce(
    self_: *const PxArticulationReducedCoordinate,
    cache: *mut PxArticulationCache
)
Expand description

Computes the joint DOF forces required to counteract external spatial forces applied to articulation links.

  • Inputs - External forces on links (in cache), articulation pose (joint positions + base transform).

  • Outputs - Joint forces to counteract the external forces (in cache).

  • Only the external spatial forces provided in the cache and the articulation pose are considered in the computation.

  • The external spatial forces are with respect to the links’ centers of mass, and not the actor’s origin.

  • commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

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