Solvers

This section documents the available physics solvers in Newton Physics. Each solver implements a common interface and can be selected based on your simulation needs.

newton.solvers.SolverBase(model)	Generic base class for solvers.
newton.solvers.XPBDSolver(model[, ...])	An implicit integrator using eXtended Position-Based Dynamics (XPBD) for rigid and soft body simulation.
newton.solvers.VBDSolver(model[, ...])	An implicit solver using Vertex Block Descent (VBD) for cloth simulation.
newton.solvers.MuJoCoSolver(model, *[, ...])	This solver provides an interface to simulate physics using the MuJoCo physics engine, optimized with GPU acceleration through mujoco_warp.
newton.solvers.FeatherstoneSolver(model[, ...])	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).
newton.solvers.SemiImplicitSolver(model[, ...])	A semi-implicit integrator using symplectic Euler