IXformDataView

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

struct IXformDataView

Read-only view for XformPrim data (positions, orientations, scales).

Engine-agnostic transform data read via IFabricHierarchy. All getters use lazy fetch with step-based staleness detection via ISimulationManager::getNumPhysicsSteps(). Safe to call from multiple onPhysicsStep callbacks.

Subclassed by isaacsim::core::experimental::prims::IArticulationDataView, isaacsim::core::experimental::prims::IRigidBodyDataView

Public Functions

virtual ~IXformDataView() = default

virtual const float *getWorldPositions(int *outCount) = 0

virtual const float *getWorldOrientations(int *outCount) = 0

virtual const float *getLocalTranslations(int *outCount) = 0

virtual const float *getLocalOrientations(int *outCount) = 0

virtual const float *getLocalScales(int *outCount) = 0

virtual const float *getWorldPositionsHost(int *outCount) = 0

virtual const float *getWorldOrientationsHost(int *outCount) = 0

virtual const float *getLocalTranslationsHost(int *outCount) = 0

virtual const float *getLocalOrientationsHost(int *outCount) = 0

virtual const float *getLocalScalesHost(int *outCount) = 0

virtual bool update() = 0

virtual bool allocateBufferFloat(

const char *fieldName,

size_t count,

) = 0

virtual bool allocateBufferUint8(

const char *fieldName,

size_t count,

) = 0

virtual uintptr_t getBufferPtr(const char *fieldName) = 0

virtual size_t getBufferSize(const char *fieldName) = 0

virtual int getBufferDevice() = 0

virtual void registerFieldCallback(

const char *fieldName,

std::function<void()> callback,

) = 0