// Use when designing, adding, or reviewing public API for the Newton physics engine — class names, method signatures, type hints, docstrings, or parameter conventions. Also use when unsure if new API conforms to project conventions.
| name | newton-api-design |
| description | Use when designing, adding, or reviewing public API for the Newton physics engine — class names, method signatures, type hints, docstrings, or parameter conventions. Also use when unsure if new API conforms to project conventions. |
Detailed patterns that supplement AGENTS.md. Read AGENTS.md first for the basics (prefix-first naming, PEP 604, Google-style docstrings, SI units, Sphinx cross-refs).
All ModelBuilder.add_shape_* methods follow this parameter order:
def add_shape_cone(
self,
body: int,
xform: Transform | None = None,
# shape-specific params here (radius, half_height, etc.)
radius: float = 1.0,
half_height: float = 0.5,
cfg: ShapeConfig | None = None,
as_site: bool = False,
color: Vec3 | None = None,
label: str | None = None,
custom_attributes: dict[str, Any] | None = None,
) -> int:
"""Adds a cone collision shape to a body.
Args:
body: Index of the parent body. Use -1 for static shapes.
xform: Transform in parent body's local frame. If ``None``,
identity transform is used.
radius: Cone base radius [m].
half_height: Half the cone height [m].
cfg: Shape configuration. If ``None``, uses
:attr:`default_shape_cfg`.
as_site: If ``True``, creates a site instead of a collision shape.
color: Optional display RGB color in [0, 1]. If ``None``, uses
the per-shape palette color.
label: Optional label for identifying the shape.
custom_attributes: Dictionary of custom attribute names to values.
Returns:
Index of the newly added shape.
"""
Key conventions:
xform (not tf, transform, or pose) — always Transform | None = Nonecfg (not config, shape_config) — always ShapeConfig | None = Nonebody, color, label, custom_attributes — standard params on all builder methodsNone, not constructed objects like wp.transform()Use IntEnum (not Enum with strings) for enumerations:
class Model:
class AttributeAssignment(IntEnum):
MODEL = 0
STATE = 1
When an IntEnum includes a NONE member, define it first at 0:
class GeoType(IntEnum):
NONE = 0
PLANE = 1
HFIELD = 2
This keeps the sentinel value stable and leaves room to append future real
members at the end instead of inserting them before a trailing NONE.
Dataclass field docstrings go on the line immediately below the field:
@dataclass
class ShapeConfig:
density: float = 1000.0
"""The density of the shape material."""
ke: float = 2.5e3
"""The contact elastic stiffness."""
Annotate Warp arrays with the dtype, e.g. wp.array[wp.vec3], wp.array2d[float], wp.array[wp.spatial_vector] | None.
Document units and shape in the docstring.
"""Rigid body velocities [m/s, rad/s], shape [body_count]."""
"""Joint forces [N or N·m], shape [joint_dof_count]."""
"""Contact points [m], shape [count, 3]."""
For compound arrays, list per-component units:
"""[0] k_mu [Pa], [1] k_lambda [Pa], ..."""
Use wp.array[X] for 1-D, wp.array2d[X] for 2-D, and wp.array[Any] for polymorphic dtypes.
When reviewing new API, verify:
xform, cfg, body, label)None, not constructed objectsIntEnum with int valuesNONE define NONE = 0 firstwp.array[wp.vec3]); docstrings give units and shapeas_site, color, label, custom_attributes