launchFusedLinkAdd

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

bool isaacsim::physics::newton::tensors::launchFusedLinkAdd(

const float *src,

float *dst,

const int *devArtiIndices,

const int *devLinkMapping,

int numArti,

int maxLinks,

int srcElemSize,

int dstElemSize,

int dstElemOffset,

int numComponents,

void *stream = nullptr,

)

Same as :func:launchFusedLinkScatter but performs an atomic add into dst.

Used for force/torque accumulation so that concurrent writes to the same link do not race.

Parameters:

• src – Device source buffer.

• dst – Device destination buffer, accumulated via atomic add.

• devArtiIndices – Optional device articulation index array.

• devLinkMapping – Device link mapping, shape [numArti * maxLinks].

• numArti – Number of selected articulations.

• maxLinks – Maximum link count per articulation.

• srcElemSize – Stride (float count) of source elements.

• dstElemSize – Stride (float count) of destination elements.

• dstElemOffset – Starting float offset inside each destination element.

• numComponents – Number of contiguous floats added per link.

• stream – CUDA stream.

Returns:

true if the launch succeeded.