Entity#
Entity 对象是场景中所有需要物理仿真（除了渲染）的事物的抽象。
这包括刚体或可变形物体、液体等，使用不同的物理 solvers（如 MPM、PBD 等）进行仿真。
- RigidEntity（刚体实体）
RigidEntity（刚体实体）RigidEntityRigidEntity.init_ckpt()RigidEntity.attach()RigidEntity.get_jacobian()RigidEntity.inverse_kinematics()RigidEntity.inverse_kinematics_multilink()RigidEntity.forward_kinematics()RigidEntity.plan_path()RigidEntity.process_input()RigidEntity.process_input_grad()RigidEntity.save_ckpt()RigidEntity.load_ckpt()RigidEntity.reset_grad()RigidEntity.get_state()RigidEntity.get_joint()RigidEntity.get_link()RigidEntity.get_pos()RigidEntity.get_quat()RigidEntity.get_vel()RigidEntity.get_ang()RigidEntity.get_links_pos()RigidEntity.get_links_quat()RigidEntity.get_AABB()RigidEntity.get_vAABB()RigidEntity.get_aabb()RigidEntity.get_links_vel()RigidEntity.get_links_ang()RigidEntity.get_links_acc()RigidEntity.get_links_acc_ang()RigidEntity.get_links_inertial_mass()RigidEntity.get_links_invweight()RigidEntity.set_pos()RigidEntity.set_pos_grad()RigidEntity.set_quat()RigidEntity.set_quat_grad()RigidEntity.get_verts()RigidEntity.set_qpos()RigidEntity.set_dofs_kp()RigidEntity.set_dofs_kv()RigidEntity.set_dofs_force_range()RigidEntity.set_dofs_stiffness()RigidEntity.set_dofs_invweight()RigidEntity.set_dofs_armature()RigidEntity.set_dofs_damping()RigidEntity.set_dofs_frictionloss()RigidEntity.set_dofs_velocity()RigidEntity.set_dofs_velocity_grad()RigidEntity.set_dofs_position()RigidEntity.control_dofs_force()RigidEntity.control_dofs_velocity()RigidEntity.control_dofs_position()RigidEntity.control_dofs_position_velocity()RigidEntity.get_qpos()RigidEntity.get_dofs_control_force()RigidEntity.get_dofs_force()RigidEntity.get_dofs_velocity()RigidEntity.get_dofs_position()RigidEntity.get_dofs_kp()RigidEntity.get_dofs_kv()RigidEntity.get_dofs_force_range()RigidEntity.get_dofs_limit()RigidEntity.get_dofs_stiffness()RigidEntity.get_dofs_invweight()RigidEntity.get_dofs_armature()RigidEntity.get_dofs_damping()RigidEntity.get_dofs_frictionloss()RigidEntity.get_mass_mat()RigidEntity.zero_all_dofs_velocity()RigidEntity.detect_collision()RigidEntity.get_contacts()RigidEntity.get_links_net_contact_force()RigidEntity.set_friction_ratio()RigidEntity.set_friction()RigidEntity.set_mass_shift()RigidEntity.set_COM_shift()RigidEntity.set_links_inertial_mass()RigidEntity.set_links_invweight()RigidEntity.set_mass()RigidEntity.get_mass()RigidEntity.is_builtRigidEntity.is_attachedRigidEntity.visualize_contactRigidEntity.init_qposRigidEntity.n_qsRigidEntity.n_linksRigidEntity.main_morphRigidEntity.morphsRigidEntity.n_jointsRigidEntity.n_dofsRigidEntity.n_geomsRigidEntity.n_cellsRigidEntity.n_vertsRigidEntity.n_facesRigidEntity.n_edgesRigidEntity.n_vgeomsRigidEntity.n_vvertsRigidEntity.n_vfacesRigidEntity.geom_startRigidEntity.geom_endRigidEntity.cell_startRigidEntity.cell_endRigidEntity.base_link_idxRigidEntity.gravity_compensationRigidEntity.link_startRigidEntity.link_endRigidEntity.joint_startRigidEntity.joint_endRigidEntity.dof_startRigidEntity.dof_endRigidEntity.vert_startRigidEntity.vvert_startRigidEntity.face_startRigidEntity.vface_startRigidEntity.edge_startRigidEntity.q_startRigidEntity.q_endRigidEntity.geomsRigidEntity.vgeomsRigidEntity.linksRigidEntity.jointsRigidEntity.joints_by_linksRigidEntity.base_linkRigidEntity.base_jointRigidEntity.n_equalitiesRigidEntity.equality_startRigidEntity.equality_endRigidEntity.equalitiesRigidEntity.is_freeRigidEntity.is_local_collision_mask
RigidLink（刚体连杆）RigidLinkRigidLink.get_pos()RigidLink.get_quat()RigidLink.get_vel()RigidLink.get_ang()RigidLink.get_verts()RigidLink.get_AABB()RigidLink.get_vAABB()RigidLink.set_mass()RigidLink.get_mass()RigidLink.set_friction()RigidLink.uidRigidLink.nameRigidLink.entityRigidLink.solverRigidLink.visualize_contactRigidLink.jointsRigidLink.n_jointsRigidLink.joint_startRigidLink.joint_endRigidLink.n_dofsRigidLink.dof_startRigidLink.dof_endRigidLink.n_qsRigidLink.q_startRigidLink.q_endRigidLink.idxRigidLink.parent_idxRigidLink.root_idxRigidLink.idx_localRigidLink.is_fixedRigidLink.invweightRigidLink.posRigidLink.quatRigidLink.inertial_posRigidLink.inertial_quatRigidLink.inertial_massRigidLink.inertial_iRigidLink.geomsRigidLink.vgeomsRigidLink.n_geomsRigidLink.geom_startRigidLink.geom_endRigidLink.n_vgeomsRigidLink.vgeom_startRigidLink.vgeom_endRigidLink.n_cellsRigidLink.n_vertsRigidLink.n_vvertsRigidLink.n_facesRigidLink.n_vfacesRigidLink.n_edgesRigidLink.is_builtRigidLink.is_free
RigidJoint（刚体关节）RigidJointRigidJoint.get_pos()RigidJoint.get_quat()RigidJoint.get_anchor_pos()RigidJoint.get_anchor_axis()RigidJoint.set_sol_params()RigidJoint.sol_paramsRigidJoint.uidRigidJoint.nameRigidJoint.entityRigidJoint.solverRigidJoint.linkRigidJoint.idxRigidJoint.idx_localRigidJoint.init_qposRigidJoint.n_qsRigidJoint.n_dofsRigidJoint.typeRigidJoint.posRigidJoint.quatRigidJoint.q_startRigidJoint.dof_startRigidJoint.q_endRigidJoint.dof_endRigidJoint.dofs_idxRigidJoint.dofs_idx_localRigidJoint.qs_idxRigidJoint.qs_idx_localRigidJoint.dofs_motion_angRigidJoint.dofs_motion_velRigidJoint.dofs_limitRigidJoint.dofs_invweightRigidJoint.dofs_frictionlossRigidJoint.dofs_stiffnessRigidJoint.dofs_dampingRigidJoint.dofs_armatureRigidJoint.dofs_kpRigidJoint.dofs_kvRigidJoint.dofs_force_rangeRigidJoint.is_built
RigidGeom（刚体几何体）RigidGeomRigidGeom.get_trimesh()RigidGeom.get_sdf_trimesh()RigidGeom.visualize_sdf()RigidGeom.set_friction()RigidGeom.get_pos()RigidGeom.get_quat()RigidGeom.get_verts()RigidGeom.get_AABB()RigidGeom.set_sol_params()RigidGeom.sol_paramsRigidGeom.uidRigidGeom.idxRigidGeom.typeRigidGeom.frictionRigidGeom.dataRigidGeom.metadataRigidGeom.linkRigidGeom.entityRigidGeom.solverRigidGeom.is_convexRigidGeom.meshRigidGeom.needs_coupRigidGeom.contypeRigidGeom.conaffinityRigidGeom.coup_softnessRigidGeom.coup_frictionRigidGeom.coup_restitutionRigidGeom.init_posRigidGeom.init_quatRigidGeom.init_vertsRigidGeom.init_facesRigidGeom.init_edgesRigidGeom.init_normalsRigidGeom.init_center_posRigidGeom.uvsRigidGeom.surfaceRigidGeom.gsd_pathRigidGeom.sdf_resRigidGeom.sdf_valRigidGeom.sdf_val_flattenedRigidGeom.sdf_gradRigidGeom.sdf_grad_flattenedRigidGeom.sdf_maxRigidGeom.sdf_cell_sizeRigidGeom.sdf_grad_deltaRigidGeom.sdf_closest_vertRigidGeom.sdf_closest_vert_flattenedRigidGeom.T_mesh_to_sdfRigidGeom.n_cellsRigidGeom.n_vertsRigidGeom.n_facesRigidGeom.n_edgesRigidGeom.cell_startRigidGeom.vert_startRigidGeom.face_startRigidGeom.edge_startRigidGeom.verts_state_startRigidGeom.cell_endRigidGeom.vert_endRigidGeom.verts_state_endRigidGeom.face_endRigidGeom.edge_endRigidGeom.is_builtRigidGeom.is_freeRigidGeom.is_fixed
RigidVisGeom（刚体可视化几何体）RigidVisGeomRigidVisGeom.get_trimesh()RigidVisGeom.get_pos()RigidVisGeom.get_quat()RigidVisGeom.get_vAABB()RigidVisGeom.uidRigidVisGeom.idxRigidVisGeom.linkRigidVisGeom.entityRigidVisGeom.vmeshRigidVisGeom.solverRigidVisGeom.metadataRigidVisGeom.init_posRigidVisGeom.init_quatRigidVisGeom.init_vvertsRigidVisGeom.init_vfacesRigidVisGeom.init_vnormalsRigidVisGeom.uvsRigidVisGeom.surfaceRigidVisGeom.n_vvertsRigidVisGeom.n_vfacesRigidVisGeom.vvert_startRigidVisGeom.vface_startRigidVisGeom.vvert_endRigidVisGeom.vface_endRigidVisGeom.is_builtRigidVisGeom.is_freeRigidVisGeom.is_fixed
MPMEntity（材料点法实体）MPMEntityMPMEntity.init_tgt_keys()MPMEntity.add_grad_from_state()MPMEntity.process_input()MPMEntity.process_input_grad()MPMEntity.get_state()MPMEntity.get_frame()MPMEntity.set_particles_pos()MPMEntity.get_particles_pos()MPMEntity.set_particles_vel()MPMEntity.get_particles_vel()MPMEntity.set_particles_active()MPMEntity.get_particles_active()MPMEntity.set_actuation()MPMEntity.set_particles_actu()MPMEntity.get_particles_actu()MPMEntity.set_muscle_group()MPMEntity.get_muscle_group()MPMEntity.set_muscle_direction()MPMEntity.set_muscle()MPMEntity.set_free()MPMEntity.get_free()MPMEntity.get_particles_in_bbox()MPMEntity.set_particle_constraints()MPMEntity.remove_particle_constraints()
FEMEntity（有限元法实体）FEMEntityFEMEntity.set_position()FEMEntity.set_velocity()FEMEntity.set_actuation()FEMEntity.set_muscle()FEMEntity.get_state()FEMEntity.deactivate()FEMEntity.activate()FEMEntity.instantiate()FEMEntity.sample()FEMEntity.compute_pressure_field()FEMEntity.init_tgt_keys()FEMEntity.init_tgt_vars()FEMEntity.init_ckpt()FEMEntity.save_ckpt()FEMEntity.load_ckpt()FEMEntity.reset_grad()FEMEntity.process_input()FEMEntity.process_input_grad()FEMEntity.set_pos()FEMEntity.set_pos_grad()FEMEntity.set_vel()FEMEntity.set_vel_grad()FEMEntity.set_actu()FEMEntity.set_actu_grad()FEMEntity.set_active()FEMEntity.set_muscle_group()FEMEntity.set_muscle_direction()FEMEntity.set_vertex_constraints()FEMEntity.update_constraint_targets()FEMEntity.remove_vertex_constraints()FEMEntity.get_el2v()FEMEntity.get_frame()FEMEntity.clear_grad()FEMEntity.n_verticesFEMEntity.n_elementsFEMEntity.n_surfacesFEMEntity.v_startFEMEntity.el_startFEMEntity.s_startFEMEntity.morphFEMEntity.materialFEMEntity.surfaceFEMEntity.n_surface_verticesFEMEntity.surface_trianglesFEMEntity.uvsFEMEntity.tet_cfg
- PBDEntity（基于位置的动力学实体）
SPHEntity（光滑粒子流体动力学实体）SPHEntitySPHEntity.init_sampler()SPHEntity.add_grad_from_state()SPHEntity.get_frame()SPHEntity.get_state()SPHEntity.set_particles_pos()SPHEntity.get_particles_pos()SPHEntity.get_position()SPHEntity.set_particles_vel()SPHEntity.get_particles_vel()SPHEntity.set_particles_active()SPHEntity.get_particles_active()
DroneEntity（无人机实体）HybridEntity（混合实体）HybridEntityHybridEntity.get_dofs_position()HybridEntity.get_dofs_velocity()HybridEntity.get_dofs_force()HybridEntity.get_dofs_control_force()HybridEntity.set_dofs_velocity()HybridEntity.set_dofs_force()HybridEntity.control_dofs_position()HybridEntity.control_dofs_position_velocity()HybridEntity.control_dofs_velocity()HybridEntity.control_dofs_force()HybridEntity.build()HybridEntity.update_soft_part()HybridEntity.n_dofsHybridEntity.fixedHybridEntity.part_rigidHybridEntity.part_softHybridEntity.solver_rigidHybridEntity.solver_soft
Emitter（发射器）