pub unsafe extern "C" fn PxArticulationReducedCoordinate_computeGeneralizedGravityForce(
self_: *const PxArticulationReducedCoordinate,
cache: *mut PxArticulationCache
)
Expand description
Computes the joint DOF forces required to counteract gravitational forces for the given articulation pose.
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Inputs - Articulation pose (joint positions + base transform).
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Outputs - Joint forces to counteract gravity (in cache).
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The joint forces returned are determined purely by gravity for the articulation in the current joint and base pose, and joints at rest; i.e. external forces, joint velocities, and joint accelerations are set to zero. Joint drives are also not considered in the computation.
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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.