novaphy.ContactPoint¶
ContactPoint is not part of the current public Python API.
Rigid contacts are exposed through the structure-of-arrays fields on
Contacts, using active rows
0:contacts.rigid_count().
| Old concept | Current field |
|---|---|
| Contact position | contacts.rigid_contact_position[i] |
| Contact normal | contacts.rigid_contact_normal[i] |
| Body indices | contacts.rigid_contact_body0[i], contacts.rigid_contact_body1[i] |
| Shape indices | contacts.rigid_contact_shape0[i], contacts.rigid_contact_shape1[i] |
| Penetration | contacts.rigid_contact_penetration[i] |
| Solver impulse | contacts.rigid_contact_impulse[i] |
Create contacts with CollisionPipeline.collide
or Model.collide, then read the corresponding rows from Contacts.