novaphy.VbdKinematicBodyBoundaryCuda¶
CUDA kinematic rigid-body boundary driver used by NovaPhy's VBD demos. It advances one body along prescribed linear and angular velocity trajectories and writes CUDA body transform / velocity buffers directly.
Constructor¶
boundary = novaphy.VbdKinematicBodyBoundaryCuda(
state,
body_index,
start_position,
linear_velocity,
)
An overload also accepts start_rotation ([qx, qy, qz, qw]) and
angular_velocity.
Methods and Properties¶
| Member | Description |
|---|---|
reset() |
Reset the internal elapsed time. |
apply(state_0, state_1, dt) |
Advance and write prescribed body state. |
body_index |
Controlled body index. |
device |
Device descriptor. |