launchContactForceMatrix

Fully qualified name: isaacsim::physics::newton::tensors::launchContactForceMatrix

bool isaacsim::physics::newton::tensors::launchContactForceMatrix(

const int *contactCount,

const int *shape0,

const int *shape1,

const float *contactForce,

const int *shapeBody,

const int *bodySensorMap,

int bodySensorMapSize,

const int *bodyFilterMap,

int numBodies,

int worldBodyIdx,

float dtScale,

int filterCount,

float *forceMatrix,

int rigidContactMax,

void *stream = nullptr,

)

Accumulate per-(sensor, filter) contact forces into a dense matrix.

Output forceMatrix has shape [numSensors, filterCount, 3].

Parameters:

• contactCount – Device pointer to the physics contact count.

• shape0 – Device array, contact pair shape A indices.

• shape1 – Device array, contact pair shape B indices.

• contactForce – Device array, shape [rigidContactMax, 3].

• shapeBody – Device array mapping shape index to body index.

• bodySensorMap – Device array mapping body index to sensor index.

• bodySensorMapSize – Length of bodySensorMap.

• bodyFilterMap – Device array mapping (sensor, body) to filter index.

• numBodies – Total body count in the model.

• worldBodyIdx – Sentinel body index representing the static world.

• dtScale – Multiplicative scale applied to each force.

• filterCount – Number of filters per sensor.

• forceMatrix – Device output, shape [numSensors, filterCount, 3].

• rigidContactMax – Capacity of the contact arrays.

• stream – CUDA stream.

Returns:

true if the launch succeeded.