newton.Mesh#

class newton.Mesh(vertices, indices, normals=None, uvs=None, compute_inertia=True, is_solid=True, maxhullvert=None, color=None, roughness=None, metallic=None, texture=None, *, sdf=None)[source]#

Bases: object

Represents a triangle mesh for collision and simulation.

This class encapsulates a triangle mesh, including its geometry, physical properties, and utility methods for simulation. Meshes are typically used for collision detection, visualization, and inertia computation in physics simulation.

Triangle indices must use counter-clockwise (CCW) winding when viewed from the outside of the surface. The collision pipeline derives face normals from the winding order and culls back-face contacts, so incorrect winding may cause convex shapes to pass through the mesh.

mass[kg]#

Mesh mass in local coordinates, computed with density 1.0 when compute_inertia is True.

com[m]#

Mesh center of mass in local coordinates.

inertia[kg, *m]#

Mesh inertia tensor about com in local coordinates.

Example

Load a mesh from an OBJ file using OpenMesh and create a Newton Mesh:

import numpy as np
import newton
import openmesh

m = openmesh.read_trimesh("mesh.obj")
mesh_points = np.array(m.points())
mesh_indices = np.array(m.face_vertex_indices(), dtype=np.int32).flatten()
mesh = newton.Mesh(mesh_points, mesh_indices)
static create_arrow(base_radius, base_height, *, cap_radius=None, cap_height=None, up_axis=Axis.Y, segments=32, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create an arrow mesh (cylinder shaft + cone head).

Parameters:

  • [m] (cap_height) – Shaft radius.

  • [m] – Shaft full height (not half-height).

  • [m] – Optional arrowhead base radius. If None, uses base_radius * 1.8.

  • [m] – Optional arrowhead full height (not half-height). If None, uses base_height * 0.18.

  • up_axis (Axis) – Long axis as a newton.Axis value.

  • segments (int) – Circumferential tessellation resolution.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

An arrow mesh.

Return type:

Mesh

static create_box(hx, hy=None, hz=None, *, duplicate_vertices=True, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a box mesh from half-extents.

Parameters:

  • [m] (hz) – Half-extent along X.

  • [m] – Half-extent along Y. If None, uses hx.

  • [m] – Half-extent along Z. If None, uses hx.

  • duplicate_vertices (bool) – If True, duplicate vertices per face.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A box mesh.

Return type:

Mesh

static create_capsule(radius, half_height, *, up_axis=Axis.Y, segments=32, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a capsule mesh.

Parameters:

  • [m] (half_height) – Radius of the capsule hemispheres and cylindrical body.

  • [m] – Half-height of the cylindrical section.

  • up_axis (Axis) – Long axis as a newton.Axis value.

  • segments (int) – Tessellation resolution for both caps and body.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A capsule mesh.

Return type:

Mesh

static create_cone(radius, half_height, *, up_axis=Axis.Y, segments=32, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a cone mesh.

Parameters:

  • [m] (half_height) – Base radius.

  • [m] – Half-height from center to apex/base.

  • up_axis (Axis) – Long axis as a newton.Axis value.

  • segments (int) – Circumferential tessellation resolution.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A cone mesh.

Return type:

Mesh

static create_cylinder(radius, half_height, *, up_axis=Axis.Y, segments=32, top_radius=None, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a cylinder or truncated cone mesh.

Parameters:

  • [m] (top_radius) – Bottom radius.

  • [m] – Half-height along the cylinder axis.

  • up_axis (Axis) – Long axis as a newton.Axis value.

  • segments (int) – Circumferential tessellation resolution.

  • [m] – Optional top radius. If None, equals radius.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A cylinder or truncated-cone mesh.

Return type:

Mesh

static create_ellipsoid(rx=1.0, ry=1.0, rz=1.0, *, num_latitudes=32, num_longitudes=32, reverse_winding=False, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a UV ellipsoid mesh.

Parameters:

  • [m] (rz) – Semi-axis length along X.

  • [m] – Semi-axis length along Y.

  • [m] – Semi-axis length along Z.

  • num_latitudes (int) – Number of latitude subdivisions.

  • num_longitudes (int) – Number of longitude subdivisions.

  • reverse_winding (bool) – If True, reverse triangle winding order.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

An ellipsoid mesh.

Return type:

Mesh

static create_from_file(filename, method=None, **kwargs)#

Load a Mesh from a 3D model file.

Supports common surface mesh formats including OBJ, PLY, STL, and other formats supported by trimesh, meshio, openmesh, or pcu.

Parameters:

  • filename (str) – Path to the mesh file.

  • method (str | None) – Loading backend to use ("trimesh", "meshio", "pcu", "openmesh"). If None, each backend is tried in order until one succeeds.

  • **kwargs – Additional arguments passed to the Mesh constructor (e.g. compute_inertia, is_solid).

Returns:

A new Mesh instance.

Return type:

Mesh

static create_from_usd(prim, **kwargs)#

Load a Mesh from a USD prim with the UsdGeom.Mesh schema.

This is a convenience wrapper around newton.usd.get_mesh(). See that function for full documentation.

Parameters:

  • prim – The USD prim to load the mesh from.

  • **kwargs – Additional arguments passed to newton.usd.get_mesh() (e.g. load_normals, load_uvs).

Returns:

A new Mesh instance.

Return type:

Mesh

static create_heightfield(heightfield, extent_x, extent_y, center_x=0.0, center_y=0.0, ground_z=0.0, *, compute_normals=False, compute_uvs=False, compute_inertia=True)#

Create a watertight mesh from a 2D heightfield.

Parameters:

  • heightfield (ndarray) – Height samples as a 2D array using ij-indexing where heightfield[i, j] maps to (x_i, y_j) (i = X, j = Y).

  • [m] (ground_z) – Total extent along X.

  • [m] – Total extent along Y.

  • [m] – Heightfield center position along X.

  • [m] – Heightfield center position along Y.

  • [m] – Bottom surface Z value for watertight side walls.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A heightfield mesh.

Return type:

Mesh

static create_plane(width, length, *, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a rectangular plane mesh.

The plane lies in the XY plane and faces +Z (normals point along +Z).

Parameters:

  • [m] (length) – Plane width along X.

  • [m] – Plane length along Y.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A plane mesh.

Return type:

Mesh

static create_sphere(radius=1.0, *, num_latitudes=32, num_longitudes=32, reverse_winding=False, compute_normals=True, compute_uvs=True, compute_inertia=True)#

Create a UV sphere mesh.

Parameters:

  • [m] (radius) – Sphere radius.

  • num_latitudes (int) – Number of latitude subdivisions.

  • num_longitudes (int) – Number of longitude subdivisions.

  • reverse_winding (bool) – If True, reverse triangle winding order.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A sphere mesh.

Return type:

Mesh

static create_terrain(grid_size=(4, 4), block_size=(5.0, 5.0), terrain_types=None, terrain_params=None, seed=None, *, compute_normals=False, compute_uvs=False, compute_inertia=True)#

Create a procedural terrain mesh from terrain blocks.

Parameters:

  • grid_size (tuple[int, int]) – Terrain grid size as (rows, cols).

  • [m] (block_size) – Terrain block dimensions as (width, length).

  • terrain_types (list[str] | str | object | None) – Terrain type name(s) or callable generator(s).

  • terrain_params (dict | None) – Optional per-terrain parameter dictionary.

  • seed (int | None) – Optional random seed for deterministic terrain generation.

  • compute_normals (bool) – If True, generate per-vertex normals.

  • compute_uvs (bool) – If True, generate per-vertex UV coordinates.

  • compute_inertia (bool) – If True, compute mesh mass properties.

Returns:

A terrain mesh.

Return type:

Mesh

__init__(vertices, indices, normals=None, uvs=None, compute_inertia=True, is_solid=True, maxhullvert=None, color=None, roughness=None, metallic=None, texture=None, *, sdf=None)#

Construct a Mesh object from a triangle mesh.

The mesh’s center of mass and inertia tensor are automatically calculated using a density of 1.0 if compute_inertia is True. This computation is only valid if the mesh is closed (two-manifold).

Parameters:
build_sdf(*, device=None, narrow_band_range=None, target_voxel_size=None, max_resolution=None, margin=None, shape_margin=0.0, scale=None, texture_format='uint16', cache_dir=None, edge_lower_angle_threshold_rad=math.radians(0.1), edge_upper_angle_threshold_rad=math.radians(10.0), edge_box_absorption=False, edge_box_half_normal=None, edge_box_half_normal_rel=None, edge_box_half_lateral=None, edge_box_half_lateral_rel=None)#

Build and attach an SDF for this mesh.

Also simplifies the precomputed mesh edges used by the SDF-mesh contact pipeline and caches the kept set on the mesh, so the resulting Model ships with the simplified edge set.

Parameters:

  • device (Device | str | None) – CUDA device for SDF allocation. Defaults to the current wp.ScopedDevice or the Warp default device.

  • narrow_band_range (tuple[float, float] | None) – Signed narrow-band distance range [m] as (inner, outer). Defaults to (-0.1, 0.1).

  • target_voxel_size (float | None) – Target sparse-grid voxel size [m]. Takes precedence over max_resolution when provided.

  • max_resolution (int | None) – Maximum sparse-grid dimension [voxel] along the longest AABB axis. Must be divisible by 8.

  • margin (float | None) – Extra AABB padding [m] added before discretization. Defaults to 0.05.

  • shape_margin (float) – SDF surface offset [m]. Non-zero values shrink the SDF surface inward; used for compliant hydroelastic layers.

  • scale (tuple[float, float, float] | None) – Scale factors (sx, sy, sz) baked into the SDF. Required for hydroelastic collision with non-unit shape scale. Defaults to runtime scaling.

  • texture_format (str) – Subgrid texture storage: "uint16" (default, half the memory of float32), "float32" (full precision), or "uint8" (minimum memory, lower precision).

  • cache_dir (str | PathLike[str] | None) – Optional directory for on-disk caching of the cooked sparse SDF. Keyed by mesh content and build parameters (shape_margin is applied at sample time and is not part of the cache key). Defaults to no caching.

  • edge_lower_angle_threshold_rad (float) – Drop internal edges whose dihedral angle is below this value [rad]. Set to 0 to keep every manifold edge. A negative value opts out of edge simplification entirely and caches the full edges set as-is (matching the pre-simplification behaviour); it is rejected when edge_box_absorption=True.

  • edge_upper_angle_threshold_rad (float) – Maximum dihedral angle [rad] for an absorbed edge to be removed. Only consulted when edge_box_absorption is True.

  • edge_box_absorption (bool) – Drop manifold edges fully covered by another edge’s oriented box.

  • edge_box_half_normal (float | None) – Absolute box half-extent [m] along the edge normal. Mutually exclusive with edge_box_half_normal_rel.

  • edge_box_half_normal_rel (float | None) – Box half-extent along the edge normal as a fraction of the AABB diagonal. Defaults to 1e-3.

  • edge_box_half_lateral (float | None) – Absolute box half-extent [m] in-plane (across the edge and as per-end overhang along it). Mutually exclusive with edge_box_half_lateral_rel.

  • edge_box_half_lateral_rel (float | None) – Box half-extent in-plane as a fraction of the AABB diagonal. Defaults to 5e-3.

Returns:

The attached SDF instance.

Raises:

  • RuntimeError – If this mesh already has an SDF attached.

  • ValueError – If both an absolute and relative half-extent are supplied for the same axis, if any half-extent is negative, or if edge_lower_angle_threshold_rad is negative while edge_box_absorption=True.

Return type:

SDF

clear_sdf()#

Detach and release the currently attached SDF.

Also drops the simplified collision-edge cache populated by build_sdf(), so subsequent mesh-mesh contact generation falls back to the full edges set instead of silently reusing the SDF-tuned subset.

Returns:

None.

Return type:

None

compute_convex_hull(replace=False)#

Compute and return the convex hull of this mesh.

Parameters:

replace (bool) – If True, replace this mesh’s vertices/indices with the convex hull (in-place). If False, return a new Mesh for the convex hull.

Returns:

The convex hull mesh (either new or self, depending on replace).

Return type:

Mesh

copy(vertices=None, indices=None, recompute_inertia=False)#

Create a copy of this mesh, optionally with new vertices or indices.

Parameters:
Returns:

A new Mesh object with the specified properties.

finalize(device=None, *, requires_grad=False, bvh_constructor=None)#

Construct a simulation-ready Warp Mesh object from the mesh data and return its ID.

Parameters:

  • device (Device | str | None) – Device on which to allocate mesh buffers.

  • requires_grad (bool) – If True, mesh points and velocities are allocated with gradient tracking.

  • bvh_constructor (str | None) – Optional Warp mesh BVH constructor backend. If None, Warp’s default is used.

Returns:

The ID of the simulation-ready Warp Mesh.

Return type:

uint64

MAX_HULL_VERTICES = 64#

Default maximum vertex count for convex hull approximation.

property color: list[float] | tuple[float, float, float] | vec3f | None#

Optional display RGB color with values in [0, 1].

property edges: ndarray#

Unique edge vertex pairs, shape (N, 2), with geometric deduplication.

Computed lazily on first access and cached. Invalidated when vertices or indices change.

property is_watertight: bool#

True if every geometric edge is shared by exactly two triangles.

A mesh satisfying this condition is closed (has no boundary edges) and is suitable for the fast unsigned-distance SDF construction path. Computed lazily on first access and cached. Invalidated when vertices or indices change.

Note

Vertex coincidence is tested on quantized float32 coordinates rounded to the nearest 1e-7 m (100 nm fixed tolerance). Vertices that differ by less than this bucket width are treated as the same geometric vertex; sub-100 nm numerical noise is therefore tolerated, but vertices split by a larger gap are reported as distinct and can cause a topologically closed mesh to be flagged non-watertight. This is an approximate check — false negatives are safe (they fall back to the slower winding-number SDF path), but callers relying on a strict guarantee should weld their mesh vertices beforehand at the desired tolerance.

property texture: str | ndarray | None#

Optional texture as a file path or a normalized RGBA array.

property texture_hash: int#

Content-based hash of the assigned texture.

Returns a stable integer hash derived from the texture data. The value is lazily computed and cached until texture is reassigned.