Physics Engine

GoalContactListener

GoalContactListener tracks contacts, durations, and optional profiling logs. It is attached to the Box2D world by Box2DEngine.

Key behaviors:

• Tracks active contact pairs and their durations.
• Supports tracking all contacts or only relevant pairs.
• Records event logs when profiling is enabled.

Box2DEngine

Box2DEngine owns the Box2D world, creates bodies, and advances the simulation.

Construction:

from interphyre.engine import Box2DEngine
engine = Box2DEngine(level)

Core methods:

• reset(level=None)
• place_action_objects(positions)
• get_state()
• objects()
• has_contact(name1, name2)
• world_is_stationary()
• is_in_basket(basket_name, target_name)
• is_in_contact_for_duration(a, b, success_time=None)
• time_update(dt)
• get_contact_duration(a, b)
• get_contact_log()
• get_contact_statistics()

Notes:

• Action objects are skipped during initial world creation and must be placed with place_action_objects.
• Contacts and durations are tracked via the internal contact listener.
• When SimulationConfig.enable_interventions is True, you can attach an InterventionScheduler to engine._intervention_scheduler.