launchRawContactData

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

bool isaacsim::physics::newton::tensors::launchRawContactData(

const int *contactCount,

const int *shape0,

const int *shape1,

const float *point0,

const float *point1,

const float *normal,

const float *contactForce,

const float *thickness0,

const float *thickness1,

const int *shapeBody,

const float *bodyQ,

const int *bodySensorMap,

int bodySensorMapSize,

int worldBodyIdx,

float dtScale,

int maxContactDataCount,

float *outForces,

float *outPoints,

float *outNormals,

float *outSeparations,

uint32_t *outCounts,

const uint32_t *startIndices,

uint64_t *otherActorIds,

int rigidContactMax,

bool pointsInWorldSpace = false,

void *stream = nullptr,

)

Emit raw per-sensor contact data with the “other actor” identifier.

Same as :func:launchContactData but tags each contact with the body index of the shape on the non-sensor side, letting Python code resolve the actor it was colliding with. Filter information is not used.

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.

• point0 – Device array, contact points on shape A.

• point1 – Device array, contact points on shape B.

• normal – Device array, contact normals.

• contactForce – Device array, contact forces.

• thickness0 – Device array, thicknesses of shape A.

• thickness1 – Device array, thicknesses of shape B.

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

• bodyQ – Device array of body transforms.

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

• bodySensorMapSize – Length of bodySensorMap.

• worldBodyIdx – Sentinel body index representing the static world.

• dtScale – Multiplicative scale applied to each force.

• maxContactDataCount – Maximum contacts stored per sensor.

• outForces – Device output forces per sensor slot.

• outPoints – Device output points (world frame).

• outNormals – Device output normals.

• outSeparations – Device output separations.

• outCounts – Device output count per sensor.

• startIndices – Device exclusive prefix-sum of per-sensor counts.

• otherActorIds – Device output, other-side body indices per contact.

• rigidContactMax – Capacity of the contact arrays.

• pointsInWorldSpace – If true, output points are expressed in world space; otherwise in the local frame of the corresponding body.

• stream – CUDA stream.

Returns:

true if the launch succeeded.