Function physx_sys::PxArticulationReducedCoordinate_getLinkAcceleration_mut

pub unsafe extern "C" fn PxArticulationReducedCoordinate_getLinkAcceleration_mut(
    self_: *mut PxArticulationReducedCoordinate,
    linkId: u32
) -> PxSpatialVelocity

Returns the (classical) link acceleration in world space for the given low-level link index.

• The returned acceleration is not a spatial, but a classical, i.e. body-fixed acceleration (https://en.wikipedia.org/wiki/Spatial_acceleration).
• The (linear) acceleration is with respect to the link’s center of mass and not the actor frame origin.

The link’s center-of-mass classical acceleration, or 0 if the call is made before the articulation participated in a first simulation step.

This call may only be made on articulations that are in a scene, and it is not allowed to use this method while the simulation is running except in a split simulation during PxScene::collide and up to #PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.