launchFusedRootFlatScatter

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

bool isaacsim::physics::newton::tensors::launchFusedRootFlatScatter(

const float *src,

float *dst,

const int *devArtiIndices,

const int *devRootFlatMapping,

int numArti,

int elemSize,

void *stream = nullptr,

)

Fused scatter for articulation root into a flat joint-qd-style layout.

Differs from :func:launchFusedRootScatter in that devRootFlatMapping references flat float offsets inside dst rather than element slots.

Parameters:

• src – Device source buffer.

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

• devArtiIndices – Optional device articulation index array.

• devRootFlatMapping – Device mapping, shape [numArti * elemSize].

• numArti – Number of selected articulations.

• elemSize – Number of floats per root element.

• stream – CUDA stream.

Returns:

true if the launch succeeded.