ContactPair

Fully qualified name: isaacsim::sensors::physics::ContactPair

struct ContactPair

Represents a pair of bodies in contact.

Stores and manages the identifiers of two bodies involved in a contact. Ensures consistent ordering by keeping the smaller ID in body0.

Public Functions

inline ContactPair(uint64_t b0, uint64_t b1)

Constructor from two body IDs.

Parameters:

• b0 – [in] First body ID.

• b1 – [in] Second body ID.

inline ContactPair(pxr::SdfPath b0, pxr::SdfPath b1)

Constructor from two USD paths.

Parameters:

• b0 – [in] First body’s USD path.

• b1 – [in] Second body’s USD path.

inline ContactPair(CsRawData d)

Constructor from raw contact data.

Parameters:

d – [in] Raw contact data containing body IDs.

inline bool operator==(ContactPair rhs) const

Equality comparison operator.

Parameters:

rhs – [in] Right-hand side contact pair to compare with.

Returns:

True if both pairs represent the same contact.

Public Members

uint64_t body0

First body in the contact pair (always has the smaller ID).

uint64_t body1

Second body in the contact pair.