newton.solvers.SolverNotifyFlags

class newton.solvers.SolverNotifyFlags(value)

Bases: IntEnum

Flags indicating which parts of the model have been updated and require the solver to be notified.

These flags are used with solver.notify_model_update() to specify which properties have changed, allowing the solver to efficiently update only the necessary components.

ALL = 127

Indicates all property updates.

BODY_INERTIAL_PROPERTIES = 8

body_com, body_inertia, body_inv_inertia, body_mass, body_inv_mass.

Type:

Indicates body inertial property updates

BODY_PROPERTIES = 4

body_q, body_qd.

Type:

Indicates body property updates

EQUALITY_CONSTRAINT_PROPERTIES = 64

eq_solref.

Type:

Indicates equality constraint property updates

JOINT_DOF_PROPERTIES = 2

joint_target_ke, joint_target_kd, joint_effort_limit, joint_armature, joint_friction, joint_limit_ke, joint_limit_kd, joint_limit_lower, joint_limit_upper.

Type:

Indicates joint DOF property updates

JOINT_PROPERTIES = 1

joint_q, joint_X_p, joint_X_c.

Type:

Indicates joint property updates

MODEL_PROPERTIES = 32

gravity and other global parameters.

Type:

Indicates model property updates

SHAPE_PROPERTIES = 16

shape_transform, shape_scale, shape_collision_radius, shape_material_mu, shape_material_ke, shape_material_kd, rigid_contact_torsional_friction, rigid_contact_rolling_friction.

Type:

Indicates shape property updates