ISimulationManager

Fully qualified name: isaacsim::core::simulation_manager::ISimulationManager

struct ISimulationManager

Interface for managing simulation state and callbacks.

Provides functionality for:

• Registering and managing callbacks for simulation events

• Controlling simulation state and timing

• Managing USD notice handlers

• Querying simulation and system time information

This interface serves as the main entry point for simulation management operations in Isaac Sim.

Public Functions

virtual int registerDeletionCallback(

const std::function<void(std::string)> &callback,

) = 0

Registers a callback function to be called when a deletion event occurs.

Parameters:

callback – [in] Function to be called with the path of the deleted item.

Returns:

Unique identifier for the registered callback.

virtual int registerPhysicsSceneAdditionCallback(

const std::function<void(std::string)> &callback,

) = 0

Registers a callback function to be called when a physics scene is added.

Parameters:

callback – [in] Function to be called with the path of the added physics scene.

Returns:

Unique identifier for the registered callback.

virtual bool deregisterCallback(const int &callbackId) = 0

Deregisters a previously registered callback.

Parameters:

callbackId – [in] The unique identifier of the callback to deregister.

Returns:

True if callback was successfully deregistered, false otherwise.

virtual void reset() = 0

Resets the simulation manager to its initial state.

virtual int &getCallbackIter() = 0

Gets the current callback iteration counter.

Returns:

Reference to the current callback iteration counter.

virtual void setCallbackIter(int const &val) = 0

Sets the callback iteration counter.

Parameters:

val – [in] New value for the callback iteration counter.

virtual void enableUsdNoticeHandler(bool const &flag) = 0

Enables or disables the USD notice handler.

Parameters:

flag – [in] True to enable the handler, false to disable.

virtual void enableFabricUsdNoticeHandler(

long stageId,

bool const &flag,

) = 0

Enables or disables the USD notice handler for a specific fabric stage.

Parameters:

• stageId – [in] ID of the fabric stage.

• flag – [in] True to enable the handler, false to disable.

virtual bool isFabricUsdNoticeHandlerEnabled(long stageId) = 0

Checks if the USD notice handler is enabled for a specific fabric stage.

Parameters:

stageId – [in] ID of the fabric stage to check.

Returns:

True if the handler is enabled for the stage, false otherwise.

virtual double getSimulationTime() = 0

Gets the current simulation time.

Returns:

The current simulation time.

virtual double getSimulationTimeMonotonic() = 0

Gets the current simulation time which does not reset when the simulation is stopped.

Returns:

The current simulation time.

virtual double getSystemTime() = 0

Gets the current system time.

Returns:

The current system time.

virtual size_t getNumPhysicsSteps() = 0

Gets the current physics step count.

Returns:

The current physics step count.

virtual bool isSimulating() = 0

Gets the current simulation time.

Returns:

The current simulation time.

virtual bool isPaused() = 0

Gets the current simulation pause state.

Returns:

The current simulation pause state.

virtual double getSimulationTimeAtTime(

const omni::fabric::RationalTime &rtime,

) = 0

Gets simulation time at a specific rational time.

Returns the simulation time corresponding to a specific rational time.

Parameters:

rtime – [in] Rational time to query simulation time for.

Returns:

Simulation time in seconds at the specified time.

virtual double getSimulationTimeMonotonicAtTime(

const omni::fabric::RationalTime &rtime,

) = 0

Gets monotonic simulation time at a specific rational time.

Returns the monotonically increasing simulation time corresponding to a specific rational time.

Parameters:

rtime – [in] Rational time to query monotonic simulation time for.

Returns:

Monotonic simulation time in seconds at the specified time.

virtual double getSystemTimeAtTime(

const omni::fabric::RationalTime &rtime,

) = 0

Gets system time at a specific rational time.

Returns the system (real-world) time corresponding to a specific rational time.

Parameters:

rtime – [in] Rational time to query system time for.

Returns:

System time in seconds at the specified time.