Function physx_sys::PxArticulationReducedCoordinate_computeCoriolisAndCentrifugalForce

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

Computes the joint DOF forces required to counteract Coriolis and centrifugal forces for the given articulation state.

  • Inputs - Articulation state (joint positions and velocities (in cache), and base transform and spatial velocity).

  • Outputs - Joint forces to counteract Coriolis and centrifugal forces (in cache).

  • The joint forces returned are determined purely by the articulation’s state; i.e. external forces, gravity, and joint accelerations are set to zero. Joint drives and potential damping terms, such as link angular or linear damping, or joint friction, are also not considered in the computation.

  • Prior to the computation, update/set the base spatial velocity with PxArticulationCache::rootLinkData and applyCache().

  • 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.