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launchUpdateInverseInertia#

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

bool isaacsim::physics::newton::tensors::launchUpdateInverseInertia(
const wp::mat33 *inertia,
wp::mat33 *inverseInertia,
int n,
void *stream = nullptr,
)#

Compute per-element inverse inertia matrix on device.

Inverts each 3x3 inertia tensor in place; writes zero for singular inputs.

Parameters:

  • inertia – Device pointer to an array of :class:wp::mat33.

  • inverseInertia – Device pointer to the output array; may alias inertia.

  • n – Element count.

  • stream – CUDA stream.

Returns:

true if the launch succeeded.