novaphy.collide_shapes

collide_shapes() is not part of the current public Python API.

Run collision for a finalized Model through CollisionPipeline or Model.collide:

pipeline = novaphy.CollisionPipeline(model, broad_phase="sap")
contacts = pipeline.contacts()

pipeline.collide(state, contacts)
solver.step(state, state, control, contacts, dt)

Rigid contacts are then available in contacts.rigid_contact_*; particle / soft-point contacts are available in contacts.soft_contact_*.

See Also

• CollisionPipeline
• Contacts
• CollisionShape