newton

Submodules

• newton.geometry

• newton.ik

• newton.math

• newton.selection

• newton.sensors

• newton.solvers

• newton.utils

• newton.viewer

Classes

ActuatorMode	Enumeration of actuator modes for joint degrees of freedom.
Axis	Enumeration of axes in 3D space.
BroadPhaseMode	Broad phase collision detection mode.
CollisionPipeline	Full-featured collision pipeline with GJK/MPR narrow phase and pluggable broad phase.
Contacts	Stores contact information for rigid and soft body collisions, to be consumed by a solver.
Control	Time-varying control data for a Model.
EqType	Enumeration of equality constraint types between bodies or joints.
GeoType	Enumeration of geometric shape types supported in Newton.
JointType	Enumeration of joint types supported in Newton.
Mesh	Represents a triangle mesh for collision and simulation.
Model	Represents the static (non-time-varying) definition of a simulation model in Newton.
ModelBuilder	A helper class for building simulation models at runtime.
ParticleFlags	Flags for particle properties.
SAPSortType	Sort algorithm to use for SAP broad phase.
SDF	Represents a signed distance field (SDF) for simulation.
ShapeFlags	Flags for shape properties.
State	Represents the time-varying state of a Model in a simulation.

Functions

AxisType	alias of Axis | Literal['X', 'Y', 'Z'] | Literal[0, 1, 2] | int | str
eval_fk(model, joint_q, joint_qd, state[, ...])	Evaluates the model's forward kinematics given the joint coordinates and updates the state's body information (State.body_q and State.body_qd).
eval_ik(model, state, joint_q, joint_qd[, ...])	Evaluates the model's inverse kinematics given the state's body information (State.body_q and State.body_qd) and updates the generalized joint coordinates joint_q and joint_qd.
eval_jacobian(model, state[, J, joint_S_s, mask])	Evaluate spatial Jacobian for articulations.
eval_mass_matrix(model, state[, H, J, ...])	Evaluate generalized mass matrix for articulations.

Constants

Name	Value
MAXVAL	10000000000.0
__version__	0.2.0