Function physx_sys::PxArticulationReducedCoordinate_computeJointForce

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

Computes the joint forces for the given articulation state and joint accelerations, not considering gravity.

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

  • Outputs - Joint forces (in cache).

  • The computation includes Coriolis terms. However, joint drives and potential damping terms are not considered in the computation (for example, linear link damping or joint friction).

  • 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.