sim.contact_jacobian

Contact Jacobian assembly for the SAP velocity solve. The public entry point is SapContactJacobian, which reads free-motion state, active contacts, body inertia, and material arrays, then produces per-contact Jacobians and per-environment dynamics blocks consumed by SapContactSolve.

Classes

SapContactJacobian(model, *[, ...])	Standalone Warp implementation of SAP-style contact preparation.
SapContactJacobianResult(contact_count, ...)	Views into buffers owned by SapContactJacobian.