sim.sap_helpers

Conversion and material helpers shared by the SAP runtime stages. The documented helpers move generalized velocities and forces between the public model convention and the angular-first SAP convention used internally by free motion, contact Jacobian assembly, and contact solve code.

Source note: the SAP modifications in this module are based on Newton’s runtime helper code and adapted so SAP Warp can wrap Newton-owned runtime arrays while preserving public generalized-coordinate and force ordering.