launchFrictionData

Fully qualified name: isaacsim::physics::newton::tensors::launchFrictionData

bool isaacsim::physics::newton::tensors::launchFrictionData(

const int *contactCount,

const int *shape0,

const int *shape1,

const float *point0,

const float *point1,

const float *normal,

const float *contactForce,

const float *thickness0,

const float *thickness1,

const int *shapeBody,

const float *bodyQ,

const int *bodySensorMap,

int bodySensorMapSize,

const int *bodyFilterMap,

int numBodies,

int filterCount,

int worldBodyIdx,

float dtScale,

int maxContactDataCount,

float *outForces,

float *outPoints,

uint32_t *outCounts,

const uint32_t *startIndices,

int pairCount,

int rigidContactMax,

bool pointsInWorldSpace = false,

void *stream = nullptr,

)

Emit tangential contact-force data grouped by sensor and filter.