Function physx_sys::PxArticulationReducedCoordinate_computeCoefficientMatrix

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

Computes the coefficient matrix for contact forces.

  • The matrix dimension is getCoefficientMatrixSize() = getDofs() * getNbLoopJoints(), and the DOF (column) indexing follows the internal DOF order, see PxArticulationCache::jointVelocity.
  • Each column in the matrix is the joint forces effected by a contact based on impulse strength 1.
  • The user must allocate memory for PxArticulationCache::coefficientMatrix where the required size of the PxReal array is equal to getCoefficientMatrixSize().
  • 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.