newton.SDF#

class newton.SDF(*, data, sparse_volume=None, coarse_volume=None, block_coords=None, _internal=False)[source]#

Bases: object

Opaque SDF container owning kernel payload and runtime references.

static create_from_data(*, sparse_volume=None, coarse_volume=None, block_coords=None, center=None, half_extents=None, background_value=MAXVAL, scale_baked=False)#

Create an SDF from precomputed runtime resources.

static create_from_mesh(mesh, *, device=None, narrow_band_range=(-0.1, 0.1), target_voxel_size=None, max_resolution=None, margin=0.05, shape_margin=0.0, scale=None)#

Create an SDF from a mesh in local mesh coordinates.

Parameters:

  • mesh (Mesh) – Source mesh geometry.

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

  • narrow_band_range (tuple[float, float]) – Signed narrow-band distance range [m] as (inner, outer).

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

  • max_resolution (int | None) – Maximum sparse-grid dimension [voxel]. Used when target_voxel_size is not provided.

  • margin (float) – Extra AABB padding [m] added before discretization.

  • shape_margin (float) – Shape margin offset [m] to subtract from SDF values. When non-zero, the SDF surface is effectively shrunk inward by this amount. Useful for modeling compliant layers in hydroelastic collision. Defaults to 0.0.

  • scale (tuple[float, float, float] | None) – Scale factors (sx, sy, sz) [unitless] to bake into the SDF. When provided, mesh vertices are scaled before SDF generation and scale_baked is set to True in the resulting SDF. Required for hydroelastic collision with non-unit shape scale. Defaults to None (no scale baking; scale applied at runtime).

Returns:

A validated SDF runtime handle with sparse/coarse volumes.

Return type:

SDF

static create_from_points(points, indices, *, device=None, narrow_band_range=(-0.1, 0.1), target_voxel_size=None, max_resolution=None, margin=0.05, shape_margin=0.0, scale=None)#

Create an SDF from triangle mesh points and indices.

Parameters:

  • points (ndarray[Any, dtype[Any]] | Sequence[Sequence[float]]) – Vertex positions [m], shape (N, 3).

  • indices (ndarray[Any, dtype[Any]] | Sequence[int]) – Triangle vertex indices [index], flattened or shape (M, 3).

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

  • narrow_band_range (tuple[float, float]) – Signed narrow-band distance range [m] as (inner, outer).

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

  • max_resolution (int | None) – Maximum sparse-grid dimension [voxel]. Used when target_voxel_size is not provided.

  • margin (float) – Extra AABB padding [m] added before discretization.

  • shape_margin (float) – Shape margin offset [m] to subtract from SDF values.

  • scale (tuple[float, float, float] | None) – Scale factors (sx, sy, sz) to bake into the SDF.

Returns:

A validated SDF runtime handle with sparse/coarse volumes.

Return type:

SDF

__init__(*, data, sparse_volume=None, coarse_volume=None, block_coords=None, _internal=False)#
is_empty()#

Return True when this SDF has no sparse/coarse payload.

to_kernel_data()#

Return kernel-facing SDF payload.

validate()#

Validate consistency of kernel pointers and owned volumes.