pub unsafe extern "C" fn PxArticulationReducedCoordinate_computeJointAcceleration(
self_: *const PxArticulationReducedCoordinate,
cache: *mut PxArticulationCache
)
Expand description
Computes the joint accelerations for the given articulation state and joint forces.
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Inputs - Joint forces (in cache) and articulation state (joint positions and velocities (in cache), and base transform and spatial velocity).
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Outputs - Joint accelerations (in cache).
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The computation includes Coriolis terms and gravity. However, joint drives and potential damping terms are not considered in the computation (for example, linear link damping or joint friction).
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Prior to the computation, update/set the base spatial velocity with PxArticulationCache::rootLinkData and applyCache().
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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.