Simulation Handles¶

This page documents the core handle classes used in the simulation system, including both object handles (e.g., soft bodies and rigid bodies) and constraint handles (e.g., joints). These handles encapsulate metadata, indexing information, and linkage between simulated entities, and serve as essential interfaces for constructing and managing simulation scenes.

class warp_ipc.utils.constants.BodyType(value)¶

Bases: Enum

An enumeration.

AFFINE = 2¶

SOFT_SHELL_LIKE = 0¶

SOFT_VOLUMETRIC = 1¶

class warp_ipc.body_handle.TriMeshBodyHandle(x_num: int, x_offset: int, surf_x_num: int, surf_x_offset_num: int, surf_tri_num: int, surf_tri_offset: int, surf_edge_num: int, surf_edge_offset: int, flipped: bool, is_closed: bool, is_affine: bool, body_type: BodyType, ABD_center: ndarray[Any, dtype[_ScalarType_co]], body_index: int, E: float, mu: float, nu: float, xi: float, volume: float | None = None, mass: float | None = None, wp_mesh: Mesh | None = None)¶

Bases: object

ABD_center: ndarray[Any, dtype[_ScalarType_co]]¶

E: float¶

body_index: int¶

body_type: BodyType¶

flipped: bool¶

is_affine: bool¶

is_closed: bool¶

mass: float | None¶

mu: float¶

nu: float¶

surf_edge_num: int¶

surf_edge_offset: int¶

surf_tri_num: int¶

surf_tri_offset: int¶

surf_x_num: int¶

surf_x_offset_num: int¶

volume: float | None¶

wp_mesh: Mesh | None¶

x_num: int¶

x_offset: int¶

xi: float¶

class warp_ipc.body_handle.TetMeshBodyHandle(surf_handle: TriMeshBodyHandle, tets_num: int, tets_offset: int)¶

Bases: object

property ABD_center¶

property body_index¶

property body_type¶

property is_affine¶

property mass¶

surf_handle: TriMeshBodyHandle¶

property surf_tri_num¶

property surf_tri_offset¶

tets_num: int¶

tets_offset: int¶

property volume¶

property x_num¶

property x_offset¶

warp_ipc.body_handle.BodyHandle¶: alias of TetMeshBodyHandle | TriMeshBodyHandle

class warp_ipc.joint_handle.JointType(value)¶

Bases: Enum

An enumeration.

BEZIER = 3¶

HELICAL = 2¶

PRISMATIC = 1¶

REVOLUTE = 0¶

class warp_ipc.joint_handle.WorldJointHandle(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, joint_type: JointType)¶

Bases: object

body_handle: TetMeshBodyHandle | TriMeshBodyHandle¶

joint_type: JointType¶

class warp_ipc.joint_handle.LocalJointHandle(parent_handle: TetMeshBodyHandle | TriMeshBodyHandle, child_handle: TetMeshBodyHandle | TriMeshBodyHandle, joint_type: JointType, joint_origin_transform: ndarray[Any, dtype[_ScalarType_co]], joint_axis: ndarray[Any, dtype[_ScalarType_co]])¶

Bases: object

child_handle: TetMeshBodyHandle | TriMeshBodyHandle¶

joint_axis: ndarray[Any, dtype[_ScalarType_co]]¶

joint_origin_transform: ndarray[Any, dtype[_ScalarType_co]]¶

joint_type: JointType¶

parent_handle: TetMeshBodyHandle | TriMeshBodyHandle¶