Add NewtonCollisionAPI with contactMargin #7
Description
Is this a new feature, an improvement, or a change to existing functionality?
New Feature
Feature Description
NewtonCollisionAPI is an extension to UsdPhysicsCollisionAPI to configure Newton extensions to collision shapes.
The only attribute (for now) is newton:contactMargin, which is the distance at which collision detection begins to generate contact points for a given shape. It is a single float in distance units.
In Netwon this is shape_contact_margin. The PhysX equivalent is physxCollision:contactOffset and the mujoco equivalent is mjc:margin
Additional context or alternatives
No response
Code of Conduct
- I agree to follow newton-usd-schemas Code of Conduct
- I have searched the open issues and have found no duplicates