launchContactData

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

bool isaacsim::physics::newton::tensors::launchContactData(

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,

const int *bodyFilterMap,

int numBodies,

int filterCount,

int worldBodyIdx,

float dtScale,

int maxContactDataCount,

float *outForces,

float *outPoints,

float *outNormals,

float *outSeparations,

uint32_t *outCounts,

const uint32_t *startIndices,

int rigidContactMax,

bool pointsInWorldSpace = false,

void *stream = nullptr,

)

Emit per-contact data (force, point, normal, separation) for each sensor/filter pair.

Uses startIndices (exclusive prefix sum over the counts returned by :func:launchCountContactsPerPair) to know where each pair’s slice begins inside the output arrays. outCounts is written with the actual written count per pair, clipped to maxContactDataCount.

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 ([rigidContactMax, 3]).

• 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 (7 floats each).

• 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.

• filterCount – Number of filters per sensor.

• worldBodyIdx – Sentinel body index representing the static world.

• dtScale – Multiplicative scale applied to each force.

• maxContactDataCount – Maximum contacts stored per pair.

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

• outPoints – Device output of the same shape (world-frame points).

• outNormals – Device output of the same shape.

• outSeparations – Device output, shape [numSensors, filterCount, maxContactDataCount].

• outCounts – Device output count per pair, shape [numSensors * filterCount].

• startIndices – Device exclusive prefix-sum of counts.

• 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.