CsRawData

Fully qualified name: isaacsim::sensors::physics::CsRawData

struct CsRawData

Raw contact data from the physics simulation.

Public Members

float time = {0.0f}

Simulation timestamp.

float dt = {0.0f}

Simulation time step for the impulse.

uint64_t body0

First body involved in the contact.

uint64_t body1

Second body involved in the contact.

carb::Float3 position = {0.0f, 0.0f, 0.0f}

Contact position in world coordinates.

carb::Float3 normal = {0.0f, 0.0f, 0.0f}

Contact normal in world coordinates.

carb::Float3 impulse = {0.0f, 0.0f, 0.0f}

Contact impulse in world coordinates.