launchFusedPairedDofScatter

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

bool isaacsim::physics::newton::tensors::launchFusedPairedDofScatter(

const float *src,

float *dstA,

float *dstB,

const int *devArtiIndices,

const int *devDofMapping,

int numArti,

int maxDofs,

void *stream = nullptr,

)

Fused indexed DOF scatter that writes the same value into two destinations.

Useful for paired [lower, upper] limit arrays.

Parameters:

• src – Device source buffer, shape [numArti, maxDofs].

• dstA – Device destination A (same size as the model DOF array).

• dstB – Device destination B.

• devArtiIndices – Optional device articulation index array.

• devDofMapping – Device DOF mapping, shape [numArti * maxDofs].

• numArti – Number of selected articulations.

• maxDofs – Maximum DOF count per articulation.

• stream – CUDA stream.

Returns:

true if the launch succeeded.