launchFusedDofScatterStrided

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

bool isaacsim::physics::newton::tensors::launchFusedDofScatterStrided(

const float *src,

float *dst,

const int *devArtiIndices,

const int *devDofMapping,

int numArti,

int maxDofs,

unsigned srcStride,

void *stream = nullptr,

)

Fused indexed DOF scatter: writes view-scoped DOF values into a flat model DOF array.

For each view articulation a and DOF slot d, writes dst[ devDofMapping[a * maxDofs + d] ] = src[(a * maxDofs + d) * srdStride] when the mapping entry is non-negative. devArtiIndices may be nullptr to use the identity 0..numArti-1.

Parameters:

• src – Device source buffer, shape [numArti, maxDofs(, srcStride)].

• dst – Device destination buffer (flat model DOF array).

• devArtiIndices – Optional device articulation index array.

• devDofMapping – Device DOF mapping, shape [numArti * maxDofs].

• numArti – Number of selected articulations.

• maxDofs – Maximum DOF count per articulation.

• srcStride – stride for the source array.

• stream – CUDA stream.

Returns:

true if the launch succeeded.