newton

Submodules

• newton.geometry

• newton.ik

• newton.math

• newton.selection

• newton.sensors

• newton.solvers

• newton.utils

• newton.viewer

Classes

ActuatorMode	Enumeration of actuator modes for joint degrees of freedom.
Axis	Enumeration of axes in 3D space.
BroadPhaseMode	Broad phase collision detection mode.
CollisionPipeline	CollisionPipeline manages collision detection and contact generation for a simulation.
CollisionPipelineUnified	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.
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.
SAPSortType	Sort algorithm to use for SAP broad phase.
SDF	Represents a signed distance field (SDF) for simulation.
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.

Constants

Name	Value
MAXVAL	10000000000.0
__version__	0.2.0