newton.StateFlags

class newton.StateFlags(*values)

Bases: IntEnum

Flags indicating which state attributes were updated or should be reset.

These flags are used with reset() to control which parts of the simulation state are reset, and with coupling_notify_input_state_update() to describe which public state inputs a coupler updated.

Experimental

The interpretation of these flags by CouplingInterface may change without prior notice.

ALL = 511

Indicates all public state and force-input attributes.

BODY = 12

Indicates rigid-body pose and velocity inputs.

BODY_F = 64

State.body_f.

Type:

Indicates rigid-body force inputs

BODY_Q = 4

State.body_q.

Type:

Indicates maximal body position coordinates

BODY_QD = 8

State.body_qd.

Type:

Indicates maximal body velocity coordinates

FORCE = 448

Indicates force-input arrays.

JOINT = 3

Indicates joint position and velocity inputs.

JOINT_F = 256

Control.joint_f or solver-local equivalents.

Type:

Indicates joint force inputs

JOINT_Q = 1

State.joint_q.

Type:

Indicates reduced joint position coordinates

JOINT_QD = 2

State.joint_qd.

Type:

Indicates reduced joint velocity coordinates

NONE = 0

Indicates no state attributes were updated.

PARTICLE = 48

Indicates particle position and velocity inputs.

PARTICLE_F = 128

State.particle_f.

Type:

Indicates particle force inputs

PARTICLE_Q = 16

State.particle_q.

Type:

Indicates particle positions

PARTICLE_QD = 32

State.particle_qd.

Type:

Indicates particle velocities