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GpuSimulationView#

Fully qualified name: isaacsim::physics::newton::tensors::GpuSimulationView

class GpuSimulationView : public isaacsim::physics::newton::tensors::BaseSimulationView #

GPU simulation view. Reports the CUDA device ordinal and creates Gpu* child views.

Public Functions

explicit GpuSimulationView(SimViewInit &&init)#

Constructs a GpuSimulationView.

Parameters:: init – [in] Initialization parameters for the simulation view.

~GpuSimulationView() override = default#

int getDeviceOrdinal() const override#

Returns the device ordinal that the view operates on.

Returns:: The requested value.

int getParamDeviceOrdinal() const override#

Returns the device ordinal used for parameter tensors.

Returns:: The requested value.

void *getCudaContext() const override#

Returns the CUDA context associated with the view.

Returns:: Pointer to the requested object, or nullptr if unavailable.

bool getValid() const override#

Returns whether the view is currently valid.

Returns:: True on success; false otherwise.

void invalidate() override#: Marks the view as invalid.

bool check() const override#

Checks whether the view and its backing data are still valid.

Returns:: True on success; false otherwise.

bool setSubspaceRoots(const char *pattern) override#

Sets the subspace roots.

Parameters:: pattern – [in] USD path pattern used to match prims.
Returns:: True on success; false otherwise.

void step(float dt) override#

Advances the simulation by the given time step.

Parameters:: dt – [in] Time step, in seconds.

bool setGravity(const carb::Float3 &gravity) override#

Sets the gravity.

Parameters:: gravity – [in] Gravity vector to apply, in meters per second squared.
Returns:: True on success; false otherwise.

bool getGravity(carb::Float3 &gravity) override#

Gets the gravity.

Parameters:: gravity – [out] Receives the current gravity vector, in meters per second squared.
Returns:: True on success; false otherwise.

ObjectType getObjectType(const char *path) override#

Gets the object type.

Parameters:: path – [in] USD prim path to query.
Returns:: The requested value.

void clearForces() override#: Clears the accumulated forces on all bodies.

bool flush() override#

Flushes pending changes to the simulation backend.

Returns:: True on success; false otherwise.

void updateArticulationsKinematic() override#: Updates articulation link transforms from the current joint state.

void InitializeKinematicBodies() override#: Initializes the kinematic bodies tracked by the view.

void enableGpuUsageWarnings(bool enable) override#

Sets whether to enable the GPU usage warnings.

Parameters:: enable – [in] If true, enables the behavior; otherwise disables it.

void release(bool recursive) override#

Releases the view and frees its associated resources.

Parameters:: recursive – [in] If true, also releases child views recursively.

ISdfShapeView *createSdfShapeView( const char *pattern, uint32_t numSamplePoints, ) override#

Creates the SDF shape view matching the given pattern.

Parameters:

pattern – [in] USD path pattern used to match prims.
numSamplePoints – [in] Number of sample points to use.

Returns:

Pointer to the newly created view, or nullptr on failure.

IDeformableBodyView *createVolumeDeformableBodyView( const char *pattern, ) override#

Creates the volume deformable body view matching the given pattern.

Parameters:: pattern – [in] USD path pattern used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IDeformableBodyView *createVolumeDeformableBodyView( const std::vector<std::string> &patterns, ) override#

Creates the volume deformable body view matching the given patterns.

Parameters:: patterns – [in] List of USD path patterns used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IDeformableBodyView *createSurfaceDeformableBodyView( const char *pattern, ) override#

Creates the surface deformable body view matching the given pattern.

Parameters:: pattern – [in] USD path pattern used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IDeformableBodyView *createSurfaceDeformableBodyView( const std::vector<std::string> &patterns, ) override#

Creates the surface deformable body view matching the given patterns.

Parameters:: patterns – [in] List of USD path patterns used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IDeformableMaterialView *createDeformableMaterialView( const char *pattern, ) override#

Creates the deformable material view matching the given pattern.

Parameters:: pattern – [in] USD path pattern used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IDeformableMaterialView *createDeformableMaterialView( const std::vector<std::string> &patterns, ) override#

Creates the deformable material view matching the given patterns.

Parameters:: patterns – [in] List of USD path patterns used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IArticulationView *createArticulationView( const char *pattern, ) override#

Creates the articulation view matching the given pattern.

Parameters:: pattern – [in] USD path pattern used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IArticulationView *createArticulationView( const std::vector<std::string> &patterns, ) override#

Creates the articulation view matching the given patterns.

Parameters:: patterns – [in] List of USD path patterns used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IRigidBodyView *createRigidBodyView(const char *pattern) override#

Creates the rigid body view matching the given pattern.

Parameters:: pattern – [in] USD path pattern used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IRigidBodyView *createRigidBodyView( const std::vector<std::string> &patterns, ) override#

Creates the rigid body view matching the given patterns.

Parameters:: patterns – [in] List of USD path patterns used to match prims.
Returns:: Pointer to the newly created view, or nullptr on failure.

IRigidContactView *createRigidContactView(

const char *pattern,

const char **filterPatterns,

uint32_t numFilterPatterns,

uint32_t maxContactDataCount,

) override#

Creates the rigid contact view matching the given pattern.

Parameters:

pattern – [in] USD path pattern used to match prims.
filterPatterns – [in] USD path patterns used to match filter prims.
numFilterPatterns – [in] Number of filter patterns.
maxContactDataCount – [in] Maximum number of contact data entries to report.

Returns:

Pointer to the newly created view, or nullptr on failure.

IRigidContactView *createRigidContactView( std::string pattern, const std::vector<std::string> &filterPatterns, uint32_t maxContactDataCount, ) override#

Creates the rigid contact view matching the given pattern.

Parameters:

pattern – [in] USD path pattern used to match prims.
filterPatterns – [in] USD path patterns used to match filter prims.
maxContactDataCount – [in] Maximum number of contact data entries to report.

Returns:

Pointer to the newly created view, or nullptr on failure.

IRigidContactView *createRigidContactView( const std::vector<std::string> &patterns, const std::vector<std::vector<std::string>> &filterPatterns, uint32_t maxContactDataCount, ) override#

Creates the rigid contact view matching the given patterns.

Parameters:

patterns – [in] List of USD path patterns used to match prims.
filterPatterns – [in] USD path patterns used to match filter prims.
maxContactDataCount – [in] Maximum number of contact data entries to report.

Returns:

Pointer to the newly created view, or nullptr on failure.

inline int getSimDeviceOrdinal() const#

Returns the device ordinal of the simulation.

Returns:: The requested value.

inline py::object &getNewtonStage()#

Returns the Newton stage object backing the view.

Returns:: Reference to the requested object.

inline py::object &getModel()#

Returns the Newton model object backing the view.

Returns:: Reference to the requested object.

Public Static Functions

static SimViewInit initNewton(long stageId)#: Acquires the GIL, imports the Newton Python module, obtains the NewtonStage and model, and reads the simulation device ordinal.

Protected Functions

virtual IArticulationView *_makeArticulationView( py::object newtonStage, const std::vector<pxr::SdfPath> &paths, ) override#: Device-specific factory methods. Overridden by CpuSimulationView and GpuSimulationView to instantiate the appropriate Cpu* or Gpu* view class.

virtual IRigidBodyView *_makeRigidBodyView( py::object newtonStage, const std::vector<pxr::SdfPath> &paths, ) override#

Creates the rigid body view.

Parameters:

newtonStage – [in] Newton stage object backing the view.
paths – [in] USD prim paths backing the view.

Returns:

Pointer to the newly created view, or nullptr on failure.

virtual IRigidContactView *_makeRigidContactView( py::object newtonStage, const std::vector<std::string> &sensorPaths, const std::vector<std::vector<std::string>> &filterPaths, uint32_t maxContactDataCount, ) override#

Creates the rigid contact view.

Parameters:

newtonStage – [in] Newton stage object backing the view.
sensorPaths – [in] USD prim paths of the contact sensors.
filterPaths – [in] Filter paths.
maxContactDataCount – [in] Maximum number of contact data entries to report.

Returns:

Pointer to the newly created view, or nullptr on failure.

void _findMatchingPaths( const std::string &pattern, std::vector<pxr::SdfPath> &pathsRet, )#

Finds the matching paths.

Parameters:

pattern – [in] USD path pattern used to match prims.
pathsRet – [in] Paths ret.

void _findMatchingChildren( const pxr::UsdPrim &prim, const std::string &pattern, std::vector<pxr::UsdPrim> &matchesRet, )#

Finds the matching children.

Parameters:

prim – [in] Prim.
pattern – [in] USD path pattern used to match prims.
matchesRet – [in] Matches ret.

Protected Attributes

py::object m_usdStage#: Value.

py::object m_newtonStage#: Value.

py::object m_model#: Value.

int m_simDeviceOrdinal#: Value.

bool m_valid#: Value.

carb::Float3 m_gravity = {0.0f, 0.0f, -9.81f}#: Value.