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