novaphy.CollisionPipeline¶

Newton-style explicit collision pipeline handle. A thin per-model descriptor that selects the broadphase backend and produces matching Contacts aggregates. Solvers consume contacts but do not run broadphase or narrowphase internally, so most simulation loops create one pipeline and call pipeline.collide(...) before solver.step(...).

Constructor¶

CollisionPipeline(
    model: Model,
    broad_phase: BroadPhaseMode | str | None = None,
    *,
    reduce_contacts: bool = True,
    rigid_contact_max: int | None = None,
    shape_pairs_max: int | None = None,
    soft_contact_max: int | None = None,
    deterministic: bool = False,
    contact_matching: str = "disabled",
    contact_report: bool = False,
)

Parameter	Description
`model`	The Model the pipeline runs against.
`broad_phase`	`None` to use the model default, a BroadPhaseMode, or one of `"explicit"`, `"nxn"` / `"all_pairs"`, `"sap"`.
`reduce_contacts`	Reduce candidate contact points to the solver-facing manifold set.
`rigid_contact_max`, `shape_pairs_max`, `soft_contact_max`	Optional positive capacity overrides.
`deterministic`	Enable deterministic ordering where supported.
`contact_matching`	`"disabled"`, `"latest"`, or `"sticky"` frame-to-frame matching.
`contact_report`	Allocate new / broken contact report buffers. Requires `contact_matching != "disabled"`.

Properties¶

Property	Description
`broad_phase`	Read-only BroadPhaseMode used by this pipeline.
`reduce_contacts`	Whether contact reduction is enabled.
`deterministic`	Whether deterministic ordering is requested.
`contact_matching`	Current matching mode name.
`contact_report`	Whether report buffers are allocated.
`rigid_contact_max`, `shape_pairs_max`, `soft_contact_max`	Resolved capacities.
`last_candidate_pair_count`, `last_rigid_contact_overflow_count`	Diagnostics from the last collision pass.

Methods¶

Method	Description
`contacts()`	Allocate a Contacts aggregate sized for the bound model.
`collide(state, contacts=None)`	Run collision detection against `state`. Populates and returns `contacts`, or allocates one when `None`.

Example¶

import novaphy

pipeline = novaphy.CollisionPipeline(model, broad_phase="sap")
contacts = pipeline.contacts()
pipeline.collide(state, contacts)
solver.step(state, state, control, contacts, dt)

Notes¶

Filter pairs are configured on the Model (via CollisionFilterPair entries passed to ModelBuilder); they apply globally regardless of which pipeline is in use.
This object is intentionally lightweight — copy it freely. The heavy lifting (broadphase tree, contact buffers) lives on the model and on the allocated Contacts.