newton.math

Functions

boltzmann(a, b, alpha)	Compute the Boltzmann-weighted average of two values.
leaky_max(a, b)	Compute a numerically stable, differentiable approximation of max(a, b).
leaky_min(a, b)	Compute a numerically stable, differentiable approximation of min(a, b).
normalize_with_norm(x)	Normalize a vector and return both the normalized vector and the original norm.
orthonormal_basis(n)	Build an orthonormal basis from a normal vector.
quat_between_axes(*axes)	Compute the rotation between a sequence of axes.
quat_between_vectors_robust(from_vec, to_vec)	Robustly compute the quaternion that rotates from_vec to to_vec.
quat_decompose(q)	Decompose a quaternion into wrapped XYZ Euler coordinates.
quat_velocity(q_now, q_prev, dt)	Approximate angular velocity from successive world quaternions (world frame).
safe_div(x, y[, eps])	Safe division that avoids division-by-zero.
smooth_max(a, b, eps)	Compute a smooth approximation of the maximum of two values.
smooth_min(a, b, eps)	Compute a smooth approximation of the minimum of two values.
transform_twist(t, x)	Transform a spatial twist between coordinate frames.
transform_wrench(t, x)	Transform a spatial wrench between coordinate frames.
vec_abs(a)	Compute the elementwise absolute value of a 3D vector.
vec_allclose(a, b[, rtol, atol])	Check if two Warp vectors are all close.
vec_inside_limits(a, lower, upper)	Check if a Warp vector is inside the given limits.
vec_leaky_max(a, b)	Compute the elementwise "leaky" maximum of two 3D vectors.
vec_leaky_min(a, b)	Compute the elementwise "leaky" minimum of two 3D vectors.
vec_max(a, b)	Compute the elementwise maximum of two 3D vectors.
vec_min(a, b)	Compute the elementwise minimum of two 3D vectors.
velocity_at_point(qd, r)	Evaluate the linear velocity of an offset point on a rigid body.