sim.sap_runtime.SapContacts#

class sim.sap_runtime.SapContacts(rigid_contact_count: array | None = None, rigid_contact_shape0: array | None = None, rigid_contact_shape1: array | None = None, rigid_contact_point0: array | None = None, rigid_contact_point1: array | None = None, rigid_contact_normal: array | None = None, rigid_contact_margin0: array | None = None, rigid_contact_margin1: array | None = None, rigid_contact_point0d: array | None = None, rigid_contact_point1d: array | None = None, rigid_contact_normald: array | None = None, rigid_contact_margin0d: array | None = None, rigid_contact_margin1d: array | None = None, hydro_contact_arrays: Any | None = None)[source]#

Bases: object

Compatibility contact bundle used by solver-facing SAP runtime code. It stores rigid contact arrays and optional f64 mirror buffers.

__init__(rigid_contact_count: array | None = None, rigid_contact_shape0: array | None = None, rigid_contact_shape1: array | None = None, rigid_contact_point0: array | None = None, rigid_contact_point1: array | None = None, rigid_contact_normal: array | None = None, rigid_contact_margin0: array | None = None, rigid_contact_margin1: array | None = None, rigid_contact_point0d: array | None = None, rigid_contact_point1d: array | None = None, rigid_contact_normald: array | None = None, rigid_contact_margin0d: array | None = None, rigid_contact_margin1d: array | None = None, hydro_contact_arrays: Any | None = None) → None#

Methods

__init__([rigid_contact_count, ...])

Attributes

`has_f64_rigid_contacts`	Return True when all f64 rigid-contact mirror arrays are present.
`has_rigid_contacts`	Return True when this contact bundle contains rigid-contact arrays.
`hydro_contact_arrays`
`rigid_contact_count`
`rigid_contact_margin0`
`rigid_contact_margin0d`
`rigid_contact_margin1`
`rigid_contact_margin1d`
`rigid_contact_normal`
`rigid_contact_normald`
`rigid_contact_point0`
`rigid_contact_point0d`
`rigid_contact_point1`
`rigid_contact_point1d`
`rigid_contact_shape0`
`rigid_contact_shape1`