habitat_sim.physics.ContactPointData class

Special methods

def __init__(self, /) -> None

Properties

contact_distance: float get set
The penetration depth of the contact point.
contact_normal_on_b_in_ws: magnum.Vector3 get set
The contact normal relative to the second object in world space.
is_active: bool get set
Whether or not the contact is between active objects. Deactivated objects may produce contact points but no reaction.
linear_friction_direction1: magnum.Vector3 get set
linear_friction_direction2: magnum.Vector3 get set
linear_friction_force1: float get set
linear_friction_force2: float get set
The Habitat link id of the first object in this collision pair if an articulated link. -1 can indicate base link.
The Habitat link id of the second object in this collision pair if an articulated link. -1 can indicate base link.
normal_force: float get set
The normal force produced by the contact point.
object_id_a: int get set
The Habitat object id of the first object in this collision pair.
object_id_b: int get set
The Habitat object id of the second object in this collision pair.
position_on_a_in_ws: magnum.Vector3 get set
The global position of the contact point on the first object.
position_on_b_in_ws: magnum.Vector3 get set
The global position of the contact point on the second object.