novaphy.solvers.SolverNotifyFlags¶
Cache invalidation flags. Pass to solver.notify_model_changed(flags) after
mutating model data that a solver may cache.
| Member | Typical use |
|---|---|
None_ |
No invalidation. |
JointProperties |
Joint topology / type / transform metadata changed. |
JointDofProperties |
Per-DOF limits, drives, armature, damping, friction, or effort/velocity limits changed. |
BodyProperties |
Body pose / body-level metadata changed. |
BodyInertialProperties |
Body mass, inertia, or center-of-mass data changed. |
ShapeProperties |
Shape geometry, material, flags, or collision filters changed. |
ModelProperties |
Global model properties such as gravity changed. |
All |
Rebuild all solver caches. |
The enum supports bitwise composition.
Example¶
import numpy as np
import novaphy
model.set_gravity(np.array([0, 0, 0], dtype=np.float32), world=0)
solver.notify_model_changed(novaphy.solvers.SolverNotifyFlags.ModelProperties)