newton.geometry.refit_bvh_shape

newton.geometry.refit_bvh_shape(model, state)

Refit the shape BVH stored on model for the current state.

Requires build_bvh_shape() to have been called beforehand. Updates world-space shape transforms from state.body_q and refits the BVH in place.

Parameters:

• model (Model) – Simulation model providing shape metadata.

• state (State) – Current simulation state with body transforms.