ContactNode

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

struct ContactNode

A node in the contact graph representing collision relationships.

Represents a body or geometry in the contact filtering graph, storing its name and connections to adjacent nodes for collision filtering purposes.

Public Members

std::string name

Name of the contact node (typically body or geometry name).

std::set<int> adjacentNodes

Set of indices of adjacent nodes in the contact graph.