Function physx_sys::PxArticulationReducedCoordinate_computeGeneralizedMassMatrix

pub unsafe extern "C" fn PxArticulationReducedCoordinate_computeGeneralizedMassMatrix(
    self_: *const PxArticulationReducedCoordinate,
    cache: *mut PxArticulationCache
)

Compute the joint-space inertia matrix that maps joint accelerations to joint forces: forces = M * accelerations.

• Inputs - Articulation pose (joint positions and base transform).
• Outputs - Mass matrix (in cache).

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.