launchFusedLinkWrenchAdd

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

bool isaacsim::physics::newton::tensors::launchFusedLinkWrenchAdd(

const float *force,

const float *torque,

const float *position,

float *bodyForce,

const int *articulationIndices,

const int *linkMapping,

const wp::transform *bodyTransforms,

const wp::vec3 *bodyCentersOfMass,

int numArticulations,

int maxLinks,

bool isGlobal,

bool hasForce,

bool hasTorque,

bool hasPosition,

void *stream = nullptr,

)

Transform and accumulate forces and torques applied to body or articulation links.

Local inputs are rotated into the world frame. When an application position is supplied, the resulting (position - centerOfMass) x force moment is added to the direct torque.

Parameters:

• force – Device force input, or nullptr when hasForce is false.

• torque – Device torque input, or nullptr when hasTorque is false.

• position – Device application-position input, or nullptr when hasPosition is false.

• bodyForce – Device destination spatial-force buffer, accumulated via atomic add.

• articulationIndices – Optional device articulation/body-view index array.

• linkMapping – Device mapping from view link slots to model body indices.

• bodyTransforms – Device model body transforms.

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

• numArticulations – Number of selected articulations or rigid bodies.

• maxLinks – Maximum links per articulation; use one for rigid bodies.

• isGlobal – Whether input vectors and positions are in the world frame.

• hasForce – Whether force is present.

• hasTorque – Whether torque is present.

• hasPosition – Whether position is present.

• stream – CUDA stream.

Returns:

true if the launch succeeded.