novaphy.SimState¶
Caller-owned runtime state buffer. Allocate via model.state() and pass to
solver.step(state_in, state_out, control, contacts, dt).
Channels¶
| Channel | Type | Description |
|---|---|---|
body_q |
(num_bodies, 7) NumPy array |
Body pose: position (3) + quaternion [qx, qy, qz, qw]; CPU is a view, CUDA is a host snapshot. |
body_qd |
(num_bodies, 6) NumPy array |
Body velocity [vx, vy, vz, wx, wy, wz]; CPU is a view, CUDA is a host snapshot. |
body_f |
(num_bodies, 6) NumPy array |
Body external wrench [fx, fy, fz, tx, ty, tz]; CPU is a view, CUDA is a host snapshot. |
joint_q |
DeviceArray[float] |
Flat generalized joint coordinates. |
joint_qd |
DeviceArray[float] |
Flat generalized joint velocities. |
particle_q |
(num_particles, 3) NumPy array |
Particle positions; CPU is a view, CUDA is a host snapshot. |
particle_qd |
(num_particles, 3) NumPy array |
Particle velocities; CPU is a view, CUDA is a host snapshot. |
particle_f |
(num_particles, 3) NumPy array |
Particle force buffer; CPU is a view, CUDA is a host snapshot. |
fluid_state |
ParticleState |
Fluid solver work state used by PBF-style paths. |
transforms |
list[Transform] |
CPU states return writable references; CUDA states return a host snapshot. Editing this list does not synchronize body_q. |
linear_velocities, angular_velocities |
DeviceArray[Vec3] |
Component velocity arrays kept in sync by state helpers and solvers. |
forces, torques |
DeviceArray[Vec3] |
Component external force / torque arrays. |
body_parent_f, body_qdd |
optional DeviceArray |
Optional Newton-style state attributes; None unless requested on the model. |
body_qd and body_f use [linear; angular] / [force; torque].
novaphy::SpatialVector and the public spatial-algebra helpers use the same
linear-first component order. SimState::apply_articulation_force is an
internal C++ helper and is not a Python method.
Methods¶
| Method | Purpose |
|---|---|
clear_forces() |
Zero body and particle force buffers. |
assign(other) |
Copy all array attributes from another compatible state. |
clone() -> SimState |
Deep copy. |
from_model(model, device=None) -> SimState (static) |
Allocate a state matching a Model. |
set_linear_velocity(body_index, vec) |
Set a body's linear velocity. |
set_angular_velocity(body_index, vec) |
Set a body's angular velocity. |
apply_force(body_index, vec) |
Add a world-space force at a body center of mass. |
apply_torque(body_index, vec) |
Add a world-space torque on a body. |
sync_particle_flat_from_fluid_state() |
Copy the fluid work state into particle_q / particle_qd. |
sync_fluid_state_from_particle_flat() |
Copy particle_q / particle_qd into the fluid work state. |
get_transforms_numpy() |
Return (positions, quaternions) arrays. |
set_transforms_numpy(positions, quaternions) |
Replace every pose while synchronizing transforms, body_q, and body_q_prev. |
get_transforms_into(out_positions, out_quats) |
Fill preallocated transform arrays in-place. |
Aliasing in solver.step¶
state_in and state_out may alias for in-place stepping:
solver.step(state, state, control, contacts, dt)
solver.step(state_a, state_b, control, contacts, dt)
state_a, state_b = state_b, state_a