ContactRawData

Fully qualified name: isaacsim::sensors::experimental::physics::ContactRawData

struct ContactRawData

Raw contact data from a single contact point.

Public Members

uint64_t body0 = {0}

First body involved in the contact.

uint64_t body1 = {0}

Second body involved in the contact.

float positionX = {0.0f}

Contact position X in world coordinates.

float positionY = {0.0f}

Contact position Y in world coordinates.

float positionZ = {0.0f}

Contact position Z in world coordinates.

float normalX = {0.0f}

Contact normal X in world coordinates.

float normalY = {0.0f}

Contact normal Y in world coordinates.

float normalZ = {0.0f}

Contact normal Z in world coordinates.

float impulseX = {0.0f}

Contact impulse X in world coordinates.

float impulseY = {0.0f}

Contact impulse Y in world coordinates.

float impulseZ = {0.0f}

Contact impulse Z in world coordinates.

float time = {0.0f}

Simulation time of this contact in seconds.

float dt = {0.0f}

Physics timestep for this contact.