newton.solvers

Solvers integrate the dynamics of a Model through the common SolverBase interface. Newton provides backends for rigid articulated systems, maximal-coordinate constraints, particles, and deformable simulation.

For solver-selection guidance and the feature, contact-material, joint-support, and differentiability comparisons, see the Solvers guide. Installed-wheel users can use the stable hosted guide at https://newton-physics.github.io/newton/stable/solvers/index.html.

Submodules

• newton.solvers.experimental

• newton.solvers.style3d

Classes

SolverBase	Generic base class for solvers.
SolverFeatherstone	A semi-implicit integrator using symplectic Euler that operates on reduced (also called generalized) coordinates to simulate articulated rigid body dynamics based on Featherstone's composite rigid body algorithm (CRBA).
SolverImplicitMPM	Implicit MPM solver for granular and elasto-plastic materials.
SolverKamino	A physics solver for simulating constrained multi-body systems containing kinematic loops, under-/overactuation, joint-limits, hard frictional contacts and restitutive impacts.
SolverMuJoCo	This solver provides an interface to simulate physics using the MuJoCo physics engine, optimized with GPU acceleration through mujoco_warp.
SolverNotifyFlags	Deprecated alias for ModelFlags.
SolverSemiImplicit	A semi-implicit integrator using symplectic Euler.
SolverStyle3D	Projective dynamics based cloth solver.
SolverVBD	An implicit solver using Vertex Block Descent (VBD) for particles and Augmented VBD (AVBD) for rigid bodies.
SolverXPBD	An implicit integrator using eXtended Position-Based Dynamics (XPBD) for rigid and soft body simulation.