MJCFContact

Fully qualified name: isaacsim::asset::importer::mjcf::MJCFContact

class MJCFContact

Contact definition for collision filtering and contact parameters.

Defines contact behavior between pairs of geometries or bodies, including collision inclusion/exclusion rules and contact constraint parameters. Used to customize collision detection and contact dynamics.

Public Types

enum Type

Enumeration of contact types for collision filtering.

Values:

enumerator PAIR

Include contact between specified geometries/bodies.

enumerator EXCLUDE

Exclude contact between specified geometries/bodies.

enumerator DEFAULT

Default contact behavior when not explicitly specified.

Public Functions

inline MJCFContact()

Public Members

Type type

Type of contact definition (pair, exclude, or default).

std::string name

Name identifier for the contact definition.

std::string geom1

Name of the first geometry in the contact pair.

std::string geom2

Name of the second geometry in the contact pair.

int condim

Number of contact constraint dimensions.

std::string body1

Name of the first body in the contact pair.

std::string body2

Name of the second body in the contact pair.