launchGatherProjectedJointForce

Fully qualified name: isaacsim::physics::newton::tensors::launchGatherProjectedJointForce

bool isaacsim::physics::newton::tensors::launchGatherProjectedJointForce(

const wp::spatial_vector *bodyParentForce,

const wp::transform *bodyTransforms,

const wp::vec3 *bodyCentersOfMass,

const wp::spatial_vector *motionSubspaces,

float *dst,

const int *bodyIndices,

const int *dofIndices,

int numIndices,

void *stream = nullptr,

)

Project incoming joint wrenches onto the corresponding DOF motion subspaces.

Parameters:

• bodyParentForce – Device source incoming wrenches indexed by body.

• bodyTransforms – Device body transforms in world space.

• bodyCentersOfMass – Device body center-of-mass offsets.

• motionSubspaces – Device motion-subspace columns indexed by model DOF.

• dst – Device pointer to [numIndices] output floats.

• bodyIndices – Device mapping from output slots to child bodies.

• dofIndices – Device mapping from output slots to model DOFs.

• numIndices – Number of output DOF slots.

• stream – CUDA stream.

Returns:

true if the launch succeeded.