newton.sim.Contacts#

class newton.sim.Contacts(rigid_contact_max, soft_contact_max, requires_grad=False, device=None)[source]#

Bases: object

Provides contact information to be consumed by a solver. Stores the contact distance, position, frame, and geometry for each contact point.

Note

This class definition is only a temporary solution and will change significantly in the future.

__init__(rigid_contact_max, soft_contact_max, requires_grad=False, device=None)#
clear()#

Clear all contacts.