ContactSensor#

Fully qualified name: isaacsim::sensors::physics::ContactSensor

class ContactSensor : public isaacsim::sensors::physics::IsaacSensorComponentBase<PrimType>#

Component for simulating contact sensors in the physics environment.

Manages a contact sensor that can detect and measure forces between physical bodies. Inherits from IsaacBaseSensorComponent to integrate with the sensor framework.

Public Functions

inline ContactSensor(
omni::physx::IPhysx *physXInterface,
ContactManager *contactManager,
)#

Constructor for ContactSensor.

Parameters:

  • physXInterface – [in] Pointer to the PhysX interface.

  • contactManager – [in] Pointer to the contact manager instance.

virtual ~ContactSensor()#

Virtual destructor.

void reset()#

Resets the sensor to its initial state.

CsRawData *getRawData(size_t &size)#

Gets the raw contact data from the sensor.

Parameters:

size – [out] Number of contact data points.

Returns:

Pointer to array of raw contact data.

CsReading getSensorReading(const bool &getLatestValue = false)#

Gets the processed sensor reading.

Parameters:

getLatestValue – [in] If true, returns the latest simulation value instead of the last sensor reading.

Returns:

Processed contact sensor reading.

void processRawContacts(
CsRawData *rawContact,
const size_t &size,
const size_t &index,
const double &time,
)#

Processes raw contact data into sensor readings.

Parameters:

  • rawContact – [in] Array of raw contact data.

  • size – [in] Number of contact data points.

  • index – [in] Index indicating data recency (0 for old, 1 for new).

  • time – [in] Current simulation time.

virtual void onPhysicsStep()#

Called each physics step to update sensor state.

inline virtual void tick()#

Called each tick to update sensor state.

Note

onPhysicsStep is used to update the sensor state.

void setContactReportApi()#

Sets up the contact report API for the sensor.

bool findValidParent()#

Finds a valid parent body for the sensor.

Returns:

True if a valid parent was found, false otherwise.

virtual void onComponentChange()#

Handles component property changes.

virtual void onStop()#

Called when the simulation stops.

Redraws the sensor after stopping, unlike the base class implementation.

void printRawData(CsRawData *data)#

Debug function to print raw contact data.

Parameters:

data – [in] Pointer to raw contact data to print.

void printReadingPair()#

Debug function to print the current reading pair.

inline virtual void initialize(
const PrimType &prim,
const pxr::UsdStageWeakPtr stage,
)#

Initializes the sensor component.

Sets up the sensor component with its USD prim and stage references.

Parameters:

  • prim – [in] USD prim representing the sensor.

  • stage – [in] USD stage containing the prim.

inline virtual void onStart()#

Called when the sensor starts.

Handles sensor initialization when the component is started. Triggers onComponentChange to ensure proper initial state.

inline virtual void preTick()#

Called before each tick to prepare sensor state.

Provides an opportunity to prepare the sensor state before the main tick update. Default implementation does nothing.

inline virtual void onPhysicsStep(float dt)#

Called during each physics simulation step.

Override this to implement physics-based behavior

Parameters:

dt – [in] Time step size in seconds

inline pxr::UsdPrim getParentPrim()#

Gets the parent prim of the sensor.

Retrieves the USD prim that is the parent of this sensor.

Returns:

USD prim that is the parent of this sensor.

inline virtual void onRenderEvent()#

Called for each rendered frame.

Override this to implement render-specific behavior or visual updates

inline virtual void updateTimestamp(
double timeSeconds,
double dt,
int64_t timeNano,
)#

Updates the component’s internal timing information.

Maintains synchronized timing state across the component

Parameters:

  • timeSeconds – [in] Current simulation time in seconds

  • dt – [in] Time step size in seconds

  • timeNano – [in] Current simulation time in nanoseconds

inline PrimType &getPrim()#

Retrieves the component’s USD prim.

Returns:

Reference to the component’s USD prim

inline bool getEnabled()#

Checks if the component is enabled.

Returns:

true if the component is enabled, false otherwise

inline uint64_t getSequenceNumber()#

Gets the component’s sequence number.

Returns:

The component’s sequence number

Public Members

bool mDoStart = true#

Flag indicating whether onStart should be called.

Protected Attributes

pxr::UsdPrim m_parentPrim#

USD prim that is the parent of this sensor.

Stores a reference to the parent USD prim that contains this sensor.

PrimType m_prim#

USD prim reference storing component settings.

pxr::UsdStageWeakPtr m_stage = nullptr#

Weak pointer to the USD stage containing the prim.

usdrt::UsdStageRefPtr m_usdrtStage = nullptr#

Runtime USD stage reference.

double m_timeSeconds = 0#

Current simulation time in seconds.

int64_t m_timeNanoSeconds = 0#

Current simulation time in nanoseconds.

double m_timeDelta = 0#

Time delta for current tick in seconds.

uint64_t m_sequenceNumber = 0#

Component sequence number for ordering/identification.

bool m_enabled = true#

Component enabled state flag.