novaphy

The top-level novaphy namespace is the primary import root for scene construction, immutable models, runtime buffers, joints, geometry, contact data, and engine-wide utilities. Solver classes and configuration objects intentionally live in novaphy.solvers instead of the top level (mirroring newton.solvers); other category pages on this site (novaphy.geometry, novaphy.math, novaphy.io, novaphy.utils) are conceptual groupings of these top-level symbols.

import novaphy

Build Pipeline

The canonical NovaPhy data flow is:

ModelBuilder  ──finalize──▶  Model  ──state()/control() + CollisionPipeline.contacts()──▶ runtime buffers
                                │                                          │
                                ├── CollisionPipeline.collide(state, contacts)
                                │                                          ▼
                                └── SolverBase.step(state_in, state_out, control, contacts, dt)

A minimal end-to-end example:

import numpy as np
import novaphy

builder = novaphy.ModelBuilder()
builder.add_ground_plane(y=0.0)

body = novaphy.RigidBody.from_box(1.0, np.array([0.5, 0.5, 0.5], dtype=np.float32))
idx = builder.add_body(body, novaphy.Transform.from_translation(np.array([0, 5, 0])))
builder.add_shape(novaphy.CollisionShape.make_box(np.array([0.5, 0.5, 0.5]), idx))

model = builder.finalize()
solver = novaphy.solvers.SolverSemiImplicit(model)

state    = model.state()
control  = model.control()
pipeline = novaphy.CollisionPipeline(model)
contacts = pipeline.contacts()

for _ in range(600):
    pipeline.collide(state, contacts)
    solver.step(state, state, control, contacts, 1.0 / 120.0)

For a fuller walkthrough including setup, runtime contract, and partner integration notes, see the Quick Start guide.

Classes

Class	Description
AABB	Axis-aligned bounding box.
Axis	Coordinate-axis enumeration.
BroadPhaseMode	Collision broadphase mode.
BroadPhasePair	Candidate pair emitted by standalone broadphase utilities.
CollisionFilterPair	Disabled shape pair entry for narrowphase filtering.
CollisionPipeline	Broad + narrow phase collision pipeline used before solver steps.
CollisionShape	Collision shape descriptor.
Contacts	Structure-of-arrays contact aggregate (rigid_contact_*, soft_contact_*).
Control	Caller-owned runtime control inputs (joint forces, targets).
Device	CPU / CUDA device descriptor.
DeviceType	Device kind enum.
Joint	Per-link joint descriptor used by Featherstone helpers.
JointDofConfig	Per-DOF joint configuration consumed by ModelBuilder.add_joint_*.
JointTargetMode	Joint target control mode (Off, TargetPosition, TargetVelocity).
JointType	Joint type enumeration.
Mesh	Triangle mesh with optional precomputed inertia.
Model	Immutable simulation model produced by ModelBuilder.finalize().
ModelBuilder	Mutable scene builder for bodies, shapes, joints, articulations, particles, and imported assets.
RigidBody	Rigid body mass and inertia descriptor.
ShapeConfig	Shape parameters consumed by ModelBuilder.add_shape_*.
ShapeFlags	Shape visibility and collision bit flags.
ShapeType	Collision shape type enumeration.
SimState	Caller-owned runtime body / particle / joint state.
Site	Named attachment point used by sensors and importers.
SpatialTransform	6D spatial transform for Featherstone algebra.
SweepAndPrune	Standalone SAP broadphase utility.
Transform	3D rigid transform (position + rotation).

Functions

Function	Description
axis_to_vec3()	Convert an Axis enum value to a 3D unit vector.
apply_particle_contact_reactions()	Apply particle velocity reactions from Contacts.soft_contact_*.
apply_particle_coupling_contacts()	Apply particle / soft-point contact forces back to rigid bodies.
batch_transform_vertices()	Apply a transform to a batch of vertex positions.
eval_fk()	Newton-aligned forward kinematics over a Model and SimState.
has_ipc()	Returns whether the package was built with IPC / libuipc support.
has_sph_cuda()	Returns whether the SPH CUDA backend is available.
version()	Returns the engine version string.

Constants

Name	Description
__version__	Same string as novaphy.version().

Submodules

Submodule	Purpose
novaphy.actuators	Actuator framework.
novaphy.sensors	Sensor framework.
novaphy.solvers	Solver classes and configuration.