ContactEventData

Fully qualified name: isaacsim::core::experimental::prims::ContactEventData

struct ContactEventData

One contact event (header) between a pair of bodies.

Mirrors the PhysX ContactEventHeader structure. LOST events have numContacts=0 and contacts=nullptr. Body identifiers are uint64_t tokens (SdfPath internal representation) produced by sdfPathToToken() (see SdfPathToken.h).

Public Members

uint64_t body0 = {0}

SdfPath token of the first body in the contact pair.

uint64_t body1 = {0}

SdfPath token of the second body in the contact pair.

uint32_t eventType = {0}

kContactEventFound / kContactEventLost / kContactEventPersist

const ContactPointData *contacts = {nullptr}

points to contiguous array, owned by reader

uint32_t numContacts = {0}

Number of contact points referenced by contacts.