pub unsafe extern "C" fn PxScene_computeGeneralizedMassMatrices_mut(
self_: *mut PxScene,
indices: *const PxIndexDataPair,
nbIndices: u32,
computeEvent: *mut c_void
)Expand description
Compute the joint-space inertia matrices that maps joint accelerations to joint forces: forces = M * accelerations on the GPU.
The size of matrices can vary by articulation, since it depends on the number of links and degrees-of-freedom.
The size is determined using this formula: sizeof(float) * dofCount * dofCount
The user must ensure that adequate space is provided for each mass matrix.