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launchScatterComOrientation#

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

bool isaacsim::physics::newton::tensors::launchScatterComOrientation(
const float *src,
float *dst,
const int *devArtiIndices,
int count,
int elemPerSlot,
int srcStride,
void *stream = nullptr,
)#

Extract orientation quaternions from a COM tensor and scatter to a flat cache.

For each element, reads 4 floats starting at offset 3 in the source stride and writes them contiguously to dst.

Parameters:

  • src – Device source buffer with stride srcStride per element.

  • dst – Device orientation cache, 4 floats per element.

  • devArtiIndices – Optional index array; nullptr for identity.

  • count – Number of selected articulations/bodies.

  • elemPerSlot – Elements per slot (1 for rigid body, maxLinks for articulation).

  • srcStride – Float stride of each source element (7 for COM).

  • stream – CUDA stream.

Returns:

true if the launch succeeded.