newton.geometry.build_bvh_shape

newton.geometry.build_bvh_shape(model, state)

Build the shape BVH stored on model.

Allocates bvh_shapes and related fields (shape enabled filter, per-shape local AABBs, world-space transforms, group roots) and populates them from the current state. Must be called before refit_bvh_shape() and before any sensor that reads the shape BVH (e.g. SensorTiledCamera).

Parameters:

• model (Model) – Simulation model providing shape metadata.

• state (State) – Current simulation state with body transforms.