launchGatherIncomingJointForce

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

bool isaacsim::physics::newton::tensors::launchGatherIncomingJointForce(

const wp::spatial_vector *bodyParentForce,

const wp::transform *bodyTransforms,

const wp::vec3 *bodyCentersOfMass,

const wp::transform *jointChildTransforms,

float *dst,

const int *bodyIndices,

const int *jointIndices,

int numIndices,

void *stream = nullptr,

)

Gather incoming joint wrenches and express them at each child joint frame.

Newton stores each wrench in world space at the child body’s center of mass. Root links and padded slots are zero-filled.

Parameters:

• bodyParentForce – Device source incoming wrenches indexed by body.

• bodyTransforms – Device body transforms in world space.

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

• jointChildTransforms – Device child-body-to-joint transforms.

• dst – Device pointer to [numIndices, 6] output floats.

• bodyIndices – Device mapping from output slots to bodies.

• jointIndices – Device mapping from output slots to inbound joints.

• numIndices – Number of output link slots.

• stream – CUDA stream.

Returns:

true if the launch succeeded.