Function physx_sys::PxArticulationReducedCoordinate_computeLambda

pub unsafe extern "C" fn PxArticulationReducedCoordinate_computeLambda(
    self_: *const PxArticulationReducedCoordinate,
    cache: *mut PxArticulationCache,
    initialState: *mut PxArticulationCache,
    jointTorque: *const f32,
    maxIter: u32
) -> bool

Computes the lambda values when the test impulse is 1.

• The user must allocate memory for PxArticulationCache::lambda where the required size of the PxReal array is equal to getNbLoopJoints().
• commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

True if convergence was achieved within maxIter; False if convergence was not achieved or the operation failed otherwise.

This call may only be made on articulations that are in a scene, and may not be made during simulation.