Floating-base two-link articulation#
Multi-prim test composition: a two-link reduced-coordinate articulation. /World/Base and /World/Link are Cube rigid bodies one unit apart joined by /World/Hinge, a PhysicsRevoluteJoint with body0 the parent (Base) so no sign flip applies to drive and state. PhysicsArticulationRootAPI and PhysxArticulationAPI sit on /World/Base itself; with no joint to world the articulation floats (no eFIX_BASE) and Base is the root link. Base is verified for its body and articulation columns. The hinge is verified through the articulation joint (PhysxJointAPI, PhysxJointAxisAPI, PhysicsJointStateAPI, PhysxDrivePerformanceEnvelopeAPI columns); its standalone PxJoint columns are unobservable here (NaN on both sides). Owns no columns and generates no helper.
Form: multi-prim; no helper, the contract test builds each prim with
PrimBatch.
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yes |
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no |
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yes |