Function physx_sys::PxArticulationReducedCoordinate_computeGeneralizedGravityForce

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

Computes the joint DOF forces required to counteract gravitational forces for the given articulation pose.

  • Inputs - Articulation pose (joint positions + base transform).

  • Outputs - Joint forces to counteract gravity (in cache).

  • The joint forces returned are determined purely by gravity for the articulation in the current joint and base pose, and joints at rest; i.e. external forces, joint velocities, and joint accelerations are set to zero. Joint drives are also not considered in the computation.

  • 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.