print articulation Cache

void printCache(){
			gArticulation->releaseCache(*articulationCache);
			articulationCache= gArticulation->createCache();
	const int maxLinks = 64;
	PxArticulationLink* links[maxLinks];
	PxU32 TotalLinkCount  = gArticulation->getLinks(links, maxLinks, 0);

	std::cout << "Total links: " << TotalLinkCount << std::endl;

	PxU32 dofStarts[maxLinks];
	dofStarts[0] = 0; //We know that the root link does not have a joint

	for(PxU32 i = 1; i < TotalLinkCount; ++i)
	{
		PxU32 llIndex = links[i]->getLinkIndex();
		PxU32 dofs = links[i]->getInboundJointDof();

		dofStarts[llIndex] = dofs;
	}

	PxU32 count = 0;
	for(PxU32 i = 1; i < TotalLinkCount; ++i)
	{
		PxU32 dofs = dofStarts[i];
		dofStarts[i] = count;
		count += dofs;
	}
	gArticulation->copyInternalStateToCache(*articulationCache, PxArticulationCache::eALL);
	// Print position, velocity and acceleration of each DOF
	for(int ii = 0; ii < (int)TotalLinkCount; ii++){
		int nDOF = links[ii]->getInboundJointDof();
		printf("Link: %02d, #DOF: %d\r\n",ii, nDOF);
		for(int jj = 0; jj<(int)nDOF; jj++){
			PxReal pos	= articulationCache->jointPosition[dofStarts[links[ii]->getLinkIndex()]+jj];
			PxReal vel	= articulationCache->jointVelocity[dofStarts[links[ii]->getLinkIndex()]+jj];
			PxReal acc	= articulationCache->jointAcceleration[dofStarts[links[ii]->getLinkIndex()]+jj];
			printf("DOF#: %02d, pos: %05.6f, \t vel: %05.6f, \t acc: %05.6f\r\n",jj,(double)pos,(double)vel,(double)acc);
		}
	}
}