newton#

Submodules

Classes

`Axis`	Enumeration of axes in 3D space.
`BodyFlags`	Per-body dynamic state flags.
`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.
`Heightfield`	Represents a heightfield (2D elevation grid) for terrain and large static surfaces.
`JointTargetMode`	Enumeration of actuator modes for joint degrees of freedom.
`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.
`SDF`	Opaque SDF container owning kernel payload and runtime references.
`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__`	`1.0.0`