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novaphy.geometry

Collision shapes, broadphase modes, collision-pipeline entry points, and contact buffers. These symbols live at the top level of novaphy; they are grouped here to mirror Newton's newton.geometry namespace.

import novaphy

shape = novaphy.CollisionShape.make_box(half_extents, body_index)
pipeline = novaphy.CollisionPipeline(model, broad_phase="sap")
contacts = pipeline.contacts()
pipeline.collide(state, contacts)

Pipeline Overview

A whole-model collision pass flows through the explicit pipeline:

Model shapes + SimState
        │
        ▼
CollisionPipeline.collide(state, contacts)
        │
        ├── broadphase candidates
        ├── narrowphase contact generation
        ▼
Contacts.rigid_contact_* / Contacts.soft_contact_*
  • CollisionShape describes a shape, material, flags, local pose, and owning body/link.
  • BroadPhaseMode selects "explicit", "nxn" / "all_pairs", or "sap" candidate generation.
  • CollisionPipeline owns the collision options and allocates contact storage sized for the bound model.
  • Contacts exposes rigid contacts as rigid_contact_* columns and particle / soft-point contacts as soft_contact_* columns.

Solvers do not run collision internally. Call pipeline.collide(state, contacts) before solver.step(...) whenever that step should consume contacts.

Shapes and Bounds

Class Description
AABB Axis-aligned bounding box.
CollisionShape Collision shape descriptor.
Mesh Triangle mesh wrapper.
ShapeConfig Shape parameters used by builder helpers.
ShapeFlags Shape visibility and collision bit flags.
ShapeType Shape type enumeration.

Collision Pipeline

Class Description
BroadPhaseMode Broadphase mode enum.
BroadPhasePair Candidate overlap pair from exposed SAP broadphase utilities.
CollisionFilterPair Disabled shape pair entry.
CollisionPipeline Configurable broad + narrow phase pipeline.
SweepAndPrune Standalone Sweep-and-Prune broadphase utility.

Contact Data

Class Description
Contacts Structure-of-arrays contact aggregate consumed by solvers.

Functions

Function Description
compute_inertia_mesh() Newton-aligned solid-mesh inertia integrator.

Compatibility Notes

The following Newton-side newton.geometry APIs are not yet provided by NovaPhy:

  • Per-pair narrowphase functions (collide_box_box, collide_sphere_sphere, collide_capsule_*, etc.)
  • BroadPhaseAllPairs, BroadPhaseExplicit
  • Public NarrowPhase class and top-level collide_shapes()
  • Per-contact Python object classes such as ContactPoint / ContactManifold
  • HydroelasticSDF and the SDF helper family (sdf_box, sdf_sphere, etc.)
  • BVH builders (build_bvh_shape/particle, refit_bvh_shape/particle)
  • compute_inertia_shape (general), compute_offset_mesh, transform_inertia
  • MATCH_BROKEN, MATCH_NOT_FOUND constants