newton.geometry#

Classes

BroadPhaseAllPairs

A broad phase collision detection class that performs N x N collision checks between all geometry pairs.

BroadPhaseExplicit

A broad phase collision detection class that only checks explicitly provided geometry pairs.

BroadPhaseSAP

Sweep and Prune (SAP) broad phase collision detection.

HydroelasticSDF

Hydroelastic contact generation with SDF-based collision detection.

NarrowPhase

Resolve broad-phase shape pairs into simulation contacts.

Functions

collide_box_box(box1_pos, box1_rot, ...[, ...])

Core contact geometry calculation for box-box collision.

collide_capsule_box(capsule_pos, ...)

Core contact geometry calculation for capsule-box collision.

collide_capsule_capsule(cap1_pos, cap1_axis, ...)

Core contact geometry calculation for capsule-capsule collision.

collide_plane_box(plane_normal, plane_pos, ...)

Core contact geometry calculation for plane-box collision.

collide_plane_capsule(plane_normal, ...)

Core contact geometry calculation for plane-capsule collision.

collide_plane_cylinder(plane_normal, ...)

Core contact geometry calculation for plane-cylinder collision.

collide_plane_ellipsoid(plane_normal, ...)

Core contact geometry calculation for plane-ellipsoid collision.

collide_plane_sphere(plane_normal, ...)

collide_sphere_box(sphere_pos, ...)

Core contact geometry calculation for sphere-box collision.

collide_sphere_capsule(sphere_pos, ...)

Core contact geometry calculation for sphere-capsule collision.

collide_sphere_cylinder(sphere_pos, ...)

Core contact geometry calculation for sphere-cylinder collision.

collide_sphere_sphere(pos1, radius1, pos2, ...)

Sphere-sphere collision calculation.

compute_inertia_shape(type, scale, src, density)

Computes the mass, center of mass and 3x3 inertia tensor of a shape

create_empty_sdf_data()

Create an empty SDFData struct for shapes that don't need SDF collision.

sdf_box(point, hx, hy, hz)

Compute signed distance to an axis-aligned box.

sdf_capsule(point, radius, half_height[, ...])

Compute signed distance to a capsule for Mesh.create_capsule geometry.

sdf_cone(point, radius, half_height[, up_axis])

Compute signed distance to a cone for Mesh.create_cone geometry.

sdf_cylinder(point, radius, half_height[, ...])

Compute signed distance to Mesh.create_cylinder geometry.

sdf_mesh(mesh, point, max_dist)

Compute signed distance to a triangle mesh.

sdf_plane(point, width, length)

Compute signed distance to a finite quad in the XY plane.

sdf_sphere(point, radius)

Compute signed distance to a sphere for Mesh.create_sphere geometry.

transform_inertia(mass, inertia, offset, quat)

Compute a rigid body's inertia tensor expressed in a new coordinate frame.