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プレイグラウンド、サンドボックス、使い捨てスクリプト置き場
create newton
Kohei Watanabe
(Mar 20, 2026, 3:31 AM +0900)
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newton/.python-version
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newton/.python-version
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3.13
newton/README.md
newton/README.md
This is a binary file and will not be displayed.
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newton/main.py
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newton/main.py
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import warp as wp
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import newton
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import newton.examples
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class Example:
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def __init__(self, viewer, args=None):
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self.fps = 100
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self.frame_dt = 1.0 / self.fps
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self.sim_time = 0.0
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self.sim_substeps = 10
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self.sim_dt = self.frame_dt / self.sim_substeps
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self.viewer = viewer
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self.args = args
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builder = newton.ModelBuilder()
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hx = 1.0
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hy = 0.1
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hz = 0.1
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link_0 = builder.add_link()
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builder.add_shape_box(link_0, hx=hx, hy=hy, hz=hz)
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link_1 = builder.add_link()
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builder.add_shape_box(link_1, hx=hx, hy=hy, hz=hz)
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link_2 = builder.add_link()
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builder.add_shape_box(link_2, hx=hx, hy=hy, hz=hz)
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rot = wp.quat_from_axis_angle(wp.vec3(0.0, 0.0, 1.0), -wp.pi * 0.5)
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j0 = builder.add_joint_revolute(
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parent=-1,
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child=link_0,
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axis=wp.vec3(0.0, 1.0, 0.0),
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parent_xform=wp.transform(p=wp.vec3(0.0, 0.0, 7.0), q=rot),
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child_xform=wp.transform(p=wp.vec3(-hx, 0.0, 0.0), q=wp.quat_identity()),
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)
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j1 = builder.add_joint_revolute(
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parent=link_0,
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child=link_1,
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axis=wp.vec3(0.0, 1.0, 0.0),
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parent_xform=wp.transform(p=wp.vec3(hx, 0.0, 0.0), q=wp.quat_identity()),
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child_xform=wp.transform(p=wp.vec3(-hx, 0.0, 0.0), q=wp.quat_identity()),
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)
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j2 = builder.add_joint_revolute(
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parent=link_1,
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child=link_2,
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axis=wp.vec3(0.0, 1.0, 0.0),
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parent_xform=wp.transform(p=wp.vec3(hx, 0.0, 0.0), q=wp.quat_identity()),
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child_xform=wp.transform(p=wp.vec3(-hx, 0.0, 0.0), q=wp.quat_identity()),
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)
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builder.add_articulation([j0, j1, j2], label="pendulum")
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builder.add_ground_plane()
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self.model = builder.finalize()
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self.solver = newton.solvers.SolverXPBD(self.model)
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self.state_0 = self.model.state()
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self.state_1 = self.model.state()
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self.control = self.model.control()
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newton.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, self.state_0)
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self.contacts = self.model.contacts()
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self.viewer.set_model(self.model)
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self.capture()
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def capture(self):
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if wp.get_device().is_cuda:
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with wp.ScopedCapture() as capture:
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self.simulate()
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self.graph = capture.graph
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else:
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self.graph = None
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def simulate(self):
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for _ in range(self.sim_substeps):
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self.state_0.clear_forces()
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self.viewer.apply_forces(self.state_0)
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self.model.collide(self.state_0, self.contacts)
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self.solver.step(self.state_0, self.state_1, self.control, self.contacts, self.sim_dt)
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self.state_0, self.state_1 = self.state_1, self.state_0
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def step(self):
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if self.graph:
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wp.capture_launch(self.graph)
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else:
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self.simulate()
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self.sim_time += self.frame_dt
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def render(self):
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self.viewer.begin_frame(self.sim_time)
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self.viewer.log_state(self.state_0)
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self.viewer.log_contacts(self.contacts, self.state_0)
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self.viewer.end_frame()
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if __name__ == "__main__":
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viewer, args = newton.examples.init()
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example = Example(viewer, args)
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newton.examples.run(example, args)