fix swapped v and w in physx gpu articulation

haosulab · Jul 25, 2024 · f3ca041 · f3ca041
1 parent 42f2950
commit f3ca041
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/physx/physx_system.cuh b/src/physx/physx_system.cuh
@@ -52,9 +52,11 @@ struct PhysxPose {
 };
 static_assert(sizeof(PhysxPose) == 28);
 
+// this is used in physx articulation only
+// somehow w and v are flipped compared to rigid body
 struct PhysxVelocity {
-  Vec3 v{};
   Vec3 w{};
+  Vec3 v{};
 };
 static_assert(sizeof(PhysxVelocity) == 24);