launchGatherCenterOfMass

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

bool isaacsim::physics::newton::tensors::launchGatherCenterOfMass(

const wp::vec3 *src,

float *dst,

const int *devIndices,

int numIndices,

const float *cachedOrientation,

void *stream = nullptr,

)

Gather center-of-mass vec3 entries and pair with cached orientation quaternions.

Writes {px, py, pz, qx, qy, qz, qw} per selected entry where the orientation is read from cachedOrientation (4 floats per slot).

Parameters:

• src – Device pointer to source vec3 array.

• dst – Device pointer to [numIndices, 7] floats.

• devIndices – Device index array, length numIndices.

• numIndices – Number of gather slots.

• cachedOrientation – Device pointer to [numIndices, 4] cached quaternion floats.

• stream – CUDA stream.

Returns:

true if the launch succeeded.