Introduce the NarrowPhase class by nvtw · Pull Request #1014 · newton-physics/newton

nvtw · 2025-10-30T16:31:17Z

Description

Implemented a narrow phase with the API we agreed upon in the Zurich meeting

Key Changes:

Created collision_core.py with shared collision detection functions (GJK/MPR contacts, AABB computation, mesh handling, plane conversion)
Created narrow_phase.py with standalone NarrowPhase class for collision detection - the launch method of that class has exactly the API we agreed on in the Zurich meeting
Modified CollisionPipelineUnified to use the new NarrowPhase class at the cost of 2 additional data conversion kernel launches
Added comprehensive test suite (test_narrow_phase.py) validating contact conventions across all primitive pairs

Newton Migration Guide

Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this PR.

The migration guide in docs/migration.rst is up-to date

Before your PR is "Ready for review"

Necessary tests have been added and new examples are tested (see newton/tests/test_examples.py)
Documentation is up-to-date
Code passes formatting and linting checks with pre-commit run -a

Summary by CodeRabbit

New Features
- Enhanced collision detection with multi-contact support, plane-to-finite-proxy casting, mesh–triangle overlap processing, improved axial (cylinder/cone) contacts, and tighter AABB/sphere culling.
Refactor
- Unified NarrowPhase-driven collision flow with new geometry preparation, narrow-phase execution, and conversion stages; updated collision pipeline initialization.
Tests
- Comprehensive narrow-phase test suite covering many shape combinations, resting/self-collisions, and contact/tangent/normal validations.

…core.py

…new NarrowPhase class would look like

coderabbitai · 2025-10-30T16:31:44Z

📝 Walkthrough

Walkthrough

Adds a new collision_core module (GJK/MPR drivers and utilities), a Warp-based NarrowPhase with kernels and orchestrator, integrates NarrowPhase into CollisionPipelineUnified via prepare/convert kernels and updated constructor/buffers, and adds a comprehensive narrow-phase unit test suite.

Changes

Cohort / File(s)	Summary
Collision core module `newton/_src/geometry/collision_core.py`	New collision core: global flags (`ENABLE_MULTI_CONTACT`, `ENABLE_TILE_BVH_QUERY`), pre-instantiated convex solvers, support-map utilities, GJK/MPR contact drivers (`compute_gjk_mpr_contacts`, `find_contacts`), tight-AABB / bounding-sphere helpers, infinite-plane ↔ cube proxy conversion, pre-contact culling, mesh-triangle extraction, axial-shape postprocessing, and many Warp-typed public utilities.
Narrow-phase pipeline `newton/_src/geometry/narrow_phase.py`	New Warp kernels and orchestrator: `write_contact_simple`, `extract_shape_data`, `create_narrow_phase_kernel_gjk_mpr` / `narrow_phase_kernel_gjk_mpr`, mesh-triangle overlap finder, triangle/mesh-plane contact processors, plus `NarrowPhase` class that sequences extraction, per-pair GJK/MPR, mesh/triangle/plane postprocessing and emits unified contact buffers.
Collision pipeline integration `newton/_src/sim/collide_unified.py`	Integrates NarrowPhase into unified collision flow: adds `prepare_geom_data_kernel`, `convert_narrow_phase_to_contacts_kernel`, updates `CollisionPipelineUnified.__init__` signature and internal buffers, and replaces legacy narrow-phase/mesh/plane kernel paths with the NarrowPhase-driven sequence.
Tests: narrow phase `newton/tests/test_narrow_phase.py`	New unit test suite validating NarrowPhase across many primitives and scenarios (sphere, box, capsule, cylinder, plane, mesh, multi-pair, self-collision). Tests verify normal/tangent consistency, surface reconstruction, contact counts, and separating vs penetrating behavior.

Sequence Diagram(s)

sequenceDiagram
    participant Pipeline as CollisionPipelineUnified
    participant Prep as prepare_geom_data_kernel
    participant NP as NarrowPhase.launch()
    participant Scale as extract_shape_data
    participant GJK as narrow_phase_kernel_gjk_mpr
    participant MeshOverlap as narrow_phase_find_mesh_triangle_overlaps_kernel
    participant TriProc as narrow_phase_process_mesh_triangle_contacts_kernel
    participant PlaneProc as narrow_phase_process_mesh_plane_contacts_kernel
    participant Conv as convert_narrow_phase_to_contacts_kernel

    Pipeline->>Prep: build geom_data & geom_transform
    Prep-->>Pipeline: geom buffers
    Pipeline->>NP: candidate_pairs + geom types/data/transforms
    NP->>Scale: extract per-shape scale/thickness
    Scale-->>NP: scale_array
    NP->>GJK: run per-pair GJK/MPR kernel
    GJK->>GJK: compute tight AABBs, pre_contact_check
    GJK->>GJK: call collision_core.find_contacts / compute_gjk_mpr_contacts
    GJK-->>NP: contact buffers + mesh/plane work items
    NP->>MeshOverlap: find overlapping mesh triangles (if any)
    MeshOverlap-->>NP: triangle_pairs
    NP->>TriProc: process triangle contacts
    TriProc-->>NP: contact buffers
    NP->>PlaneProc: process mesh-plane contacts
    PlaneProc-->>NP: contact buffers
    NP-->>Pipeline: narrow-phase contact buffers
    Pipeline->>Conv: convert to canonical Contacts
    Conv-->>Pipeline: Contacts arrays

sequenceDiagram
    participant Caller as find_contacts()
    participant Pre as pre_contact_check()
    participant Bsphere as compute_bounding_sphere_from_aabb()
    participant PlaneCheck as check_infinite_plane_bsphere_overlap()
    participant Convert as convert_infinite_plane_to_cube()
    participant Solver as compute_gjk_mpr_contacts()

    Caller->>Pre: shapes + transforms + margins
    Pre->>Bsphere: compute bounding spheres
    Bsphere-->>Pre: centers & radii
    Pre->>PlaneCheck: plane vs bsphere overlap test
    PlaneCheck-->>Pre: overlap result
    alt overlap OK
        Caller->>Convert: (if infinite plane) create finite cube proxy
        Convert-->>Caller: proxy shape_data, offset
        Caller->>Solver: run GJK/MPR driver (convex/discrete)
        Solver-->>Caller: contact count, normal, contact points, penetrations
    else rejected
        Pre-->>Caller: early-out (no contacts)
    end

Estimated code review effort

🎯 4 (Complex) | ⏱️ ~70 minutes

Areas needing extra attention:

collision_core.py: solver instantiation, GJK/MPR driver logic, plane↔cube proxy conversion, axial-shape postprocessing and degenerate-case handling.
narrow_phase.py: kernel indexing, buffer lifecycle, cumulative-sum partitioning for mesh/plane work, and external AABB handling.
collide_unified.py: updated constructor/API, prepare/convert kernels, and correct wiring of NarrowPhase buffers into the collision flow.

Possibly related PRs

Update gjk epa mpr multicontact #899 — strong overlap introducing unified collision pipeline components, GJK/MPR/multicontact support and likely code-level conflicts.
Convex vs Mesh collision support (allows to realize terrain meshes) #981 — adds GJK/MPR utilities, infinite-plane handling and flags similar to this change; high potential for overlap.
Update broad phase to work properly with world ids #984 — modifies collide_unified.py and CollisionPipelineUnified initialization/broad-phase integration; related to constructor/API changes here.

Suggested reviewers

mmacklin
eric-heiden
nvlukasz

Pre-merge checks and finishing touches

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title Check	✅ Passed	The PR title "Add the NarrowPhase class to the public API" directly refers to the NarrowPhase class introduced in narrow_phase.py, which is prominently featured as a key deliverable in the PR objectives. While the changeset includes multiple related additions (collision_core.py with utility functions, modifications to CollisionPipelineUnified, and comprehensive tests), the PR's primary purpose is to expose a standalone narrow-phase collision detection class as a public API. The title accurately captures this main objective and is specific enough that a teammate would understand the PR introduces new public-facing collision detection capabilities centered on the NarrowPhase class.

✨ Finishing touches

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🧪 Generate unit tests (beta)

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codecov · 2025-10-30T16:37:20Z

Codecov Report

❌ Patch coverage is 98.83721% with 1 line in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
newton/_src/sim/collide_unified.py	95.45%	1 Missing ⚠️

📢 Thoughts on this report? Let us know!

coderabbitai

Actionable comments posted: 2

🧹 Nitpick comments (1)

newton/_src/geometry/collision_core.py (1)
445-504: Drop the unused plane argument

convert_infinite_plane_to_cube() no longer touches the incoming shape_data, so Ruff quite rightly warns about ARG001. Easiest fix is to delete that parameter (and matching call sites still compile because we’re just passing the plane data through).
-def convert_infinite_plane_to_cube(
-    shape_data: GenericShapeData,
+def convert_infinite_plane_to_cube(
     plane_rotation: wp.quat,

📜 Review details

Configuration used: Path: .coderabbit.yml

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 2df8139 and d486a93.

📒 Files selected for processing (7)

newton/__init__.py (2 hunks)
newton/_src/geometry/collision_core.py (1 hunks)
newton/_src/geometry/narrow_phase.py (1 hunks)
newton/_src/sim/__init__.py (2 hunks)
newton/_src/sim/collide_api.py (1 hunks)
newton/_src/sim/collide_unified.py (5 hunks)
newton/tests/test_narrow_phase.py (1 hunks)

🧰 Additional context used

🧠 Learnings (13)

📓 Common learnings

Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).

📚 Learning: 2025-08-12T17:51:37.474Z

Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).

Applied to files:

newton/_src/sim/__init__.py
newton/__init__.py
newton/tests/test_narrow_phase.py
newton/_src/sim/collide_api.py
newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py
newton/_src/geometry/collision_core.py

📚 Learning: 2025-08-14T17:38:36.106Z

Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/__init__.py:25-29
Timestamp: 2025-08-14T17:38:36.106Z
Learning: The Newton project prefers incremental __all__ building using __all__ += [...] pattern to group exports with their related imports, rather than a single consolidated __all__ at the end of the file.

Applied to files:

newton/_src/sim/__init__.py
newton/__init__.py

📚 Learning: 2025-08-12T17:58:00.815Z

Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/_src/solvers/featherstone/kernels.py:18-20
Timestamp: 2025-08-12T17:58:00.815Z
Learning: In newton/_src/core/__init__.py, the function transform_twist is properly re-exported from the spatial module via "from .spatial import (..., transform_twist, ...)" and included in __all__, making it available for import as "from ...core import transform_twist" from other modules.

Applied to files:

newton/_src/sim/__init__.py
newton/__init__.py

📚 Learning: 2025-08-12T17:58:16.929Z

Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/tests/test_ik.py:25-26
Timestamp: 2025-08-12T17:58:16.929Z
Learning: In the Newton physics engine codebase, it's acceptable for tests to import and use private `_src` internal modules and functions when needed for testing purposes, even though this breaks the public API boundary. This is an intentional project decision for test code.

Applied to files:

newton/_src/sim/__init__.py
newton/__init__.py
newton/tests/test_narrow_phase.py

📚 Learning: 2025-10-10T10:47:41.082Z

Learnt from: nvtw
PR: newton-physics/newton#899
File: newton/tests/test_rigid_contact.py:214-268
Timestamp: 2025-10-10T10:47:41.082Z
Learning: In `newton/tests/test_rigid_contact.py`, using `add_shape_plane(width=0, length=0)` for an infinite plane works correctly with the collision system and does not cause degenerate AABB issues in the test scenario `test_shape_collisions_gjk_mpr_multicontact`.

Applied to files:

newton/tests/test_narrow_phase.py
newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py
newton/_src/geometry/collision_core.py

📚 Learning: 2025-07-15T21:00:03.709Z

Learnt from: dylanturpin
PR: newton-physics/newton#394
File: newton/tests/test_ik.py:119-119
Timestamp: 2025-07-15T21:00:03.709Z
Learning: In the Newton physics engine codebase, it's acceptable to test private API functions (those prefixed with underscore) in unit and component tests, as the maintainers consider this appropriate for testing internal functionality.

Applied to files:

newton/tests/test_narrow_phase.py

📚 Learning: 2025-09-26T05:58:21.013Z

Learnt from: WenchaoHuang
PR: newton-physics/newton#835
File: newton/_src/solvers/style3d/collision/collision.py:49-53
Timestamp: 2025-09-26T05:58:21.013Z
Learning: In newton/_src/solvers/style3d/collision/collision.py, the broad_phase buffers (broad_phase_ee, broad_phase_ef, broad_phase_vf) created with wp.array() don't need zero-initialization because they follow a write-first-read-later pattern: BVH query kernels in frame_begin() populate these buffers completely (write-only operations), and collision kernels only read from them afterward in accumulate_contact_force(), ensuring no undefined reads occur.

Applied to files:

newton/tests/test_narrow_phase.py
newton/_src/sim/collide_api.py
newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py
newton/_src/geometry/collision_core.py

📚 Learning: 2025-10-24T07:56:14.792Z

Learnt from: nvtw
PR: newton-physics/newton#981
File: newton/_src/geometry/collision_convex.py:180-289
Timestamp: 2025-10-24T07:56:14.792Z
Learning: In newton/_src/geometry/collision_convex.py, the single-contact solver (create_solve_convex_single_contact) intentionally returns count=1 even when shapes are separated (signed_distance > contact_threshold). The calling code is responsible for deciding whether to accept the contact based on the signed distance value. This design pushes filtering responsibility to the caller.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/collision_core.py

📚 Learning: 2025-09-26T05:58:21.013Z

Learnt from: WenchaoHuang
PR: newton-physics/newton#835
File: newton/_src/solvers/style3d/collision/collision.py:49-53
Timestamp: 2025-09-26T05:58:21.013Z
Learning: In newton/_src/solvers/style3d/collision/collision.py, the broad_phase buffers (broad_phase_ee, broad_phase_ef, broad_phase_vf) created with wp.array() don't need zero-initialization because the BVH query kernels that use them always write the count to query_results[0, tid] = 0 first before populating any data, ensuring no undefined reads occur.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-10-30T07:28:13.077Z

Learnt from: nvtw
PR: newton-physics/newton#984
File: newton/_src/geometry/broad_phase_nxn.py:318-336
Timestamp: 2025-10-30T07:28:13.077Z
Learning: In Newton's BroadPhaseAllPairs class (newton/_src/geometry/broad_phase_nxn.py), device management is the caller's responsibility. The library intentionally does not perform automatic device transfers for precomputed arrays in the launch method, even if there's a device mismatch. Users must ensure that the device specified in __init__ matches the device used in launch.

Applied to files:

newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-08-12T05:17:34.423Z

Learnt from: shi-eric
PR: newton-physics/newton#521
File: newton/examples/example_cloth_hanging.py:36-36
Timestamp: 2025-08-12T05:17:34.423Z
Learning: The Newton migration guide (docs/migration.rst) is specifically for documenting how to migrate existing warp.sim functionality to Newton equivalents. New Newton-only features that didn't exist in warp.sim do not need migration documentation.

Applied to files:

newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-08-12T18:04:06.577Z

Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/_src/solvers/featherstone/kernels.py:75-75
Timestamp: 2025-08-12T18:04:06.577Z
Learning: The Newton physics framework requires nightly Warp builds, which means compatibility concerns with older stable Warp versions (like missing functions such as wp.spatial_adjoint) are not relevant for this project.

Applied to files:

newton/_src/geometry/narrow_phase.py

🧬 Code graph analysis (7)

newton/_src/sim/__init__.py (1)

newton/_src/sim/collide_api.py (1)

CollisionPipelineAPI (160-477)

newton/__init__.py (1)

newton/_src/sim/collide_api.py (1)

CollisionPipelineAPI (160-477)

newton/tests/test_narrow_phase.py (2)

newton/_src/geometry/narrow_phase.py (1)

NarrowPhase (649-849)

newton/_src/geometry/types.py (1)

GeoType (25-67)

newton/_src/sim/collide_api.py (6)

newton/_src/geometry/broad_phase_nxn.py (2)

BroadPhaseAllPairs (126-207)

BroadPhaseExplicit (210-273)

newton/_src/geometry/broad_phase_sap.py (1)

BroadPhaseSAP (298-491)

newton/_src/geometry/narrow_phase.py (1)

NarrowPhase (649-849)

newton/_src/sim/contacts.py (1)

Contacts (23-93)

newton/_src/sim/model.py (1)

Model (152-852)

newton/_src/sim/collide_unified.py (1)

compute_shape_aabbs (746-810)

newton/_src/sim/collide_unified.py (1)

newton/_src/geometry/collision_core.py (7)

compute_gjk_mpr_contacts (241-363)

compute_tight_aabb_from_support (367-427)

find_contacts (563-625)

find_pair_from_cumulative_index (850-880)

get_triangle_shape_from_mesh (884-932)

mesh_vs_convex_midphase (750-846)

pre_contact_check (629-746)

newton/_src/geometry/narrow_phase.py (3)

newton/_src/geometry/collision_core.py (7)

compute_gjk_mpr_contacts (241-363)

compute_tight_aabb_from_support (367-427)

find_contacts (563-625)

find_pair_from_cumulative_index (850-880)

get_triangle_shape_from_mesh (884-932)

mesh_vs_convex_midphase (750-846)

pre_contact_check (629-746)

newton/_src/geometry/support_function.py (3)

GenericShapeData (90-109)

SupportMapDataProvider (56-64)

pack_mesh_ptr (68-75)

newton/_src/geometry/types.py (1)

GeoType (25-67)

newton/_src/geometry/collision_core.py (4)

newton/_src/geometry/broad_phase_common.py (1)

binary_search (42-50)

newton/_src/geometry/collision_convex.py (4)

create_solve_convex_multi_contact (54-177)

create_solve_convex_single_contact (180-289)

solve_convex_multi_contact (73-175)

solve_convex_single_contact (198-287)

newton/_src/geometry/support_function.py (5)

GenericShapeData (90-109)

GeoTypeEx (51-52)

SupportMapDataProvider (56-64)

pack_mesh_ptr (68-75)

support_map (113-339)

newton/_src/geometry/types.py (1)

GeoType (25-67)

🪛 Ruff (0.14.2)

newton/tests/test_narrow_phase.py

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472-472: Unpacked variable tangents is never used

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519-519: Unpacked variable pairs is never used

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519-519: Unpacked variable positions is never used

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519-519: Unpacked variable normals is never used

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519-519: Unpacked variable penetrations is never used

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519-519: Unpacked variable tangents is never used

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543-543: Unpacked variable pairs is never used

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543-543: Unpacked variable penetrations is never used

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543-543: Unpacked variable tangents is never used

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570-570: Unpacked variable pairs is never used

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570-570: Unpacked variable positions is never used

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570-570: Unpacked variable penetrations is never used

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570-570: Unpacked variable tangents is never used

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592-592: Unpacked variable pairs is never used

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614-614: Unpacked variable pairs is never used

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614-614: Unpacked variable positions is never used

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614-614: Unpacked variable normals is never used

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614-614: Unpacked variable penetrations is never used

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614-614: Unpacked variable tangents is never used

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637-637: Unpacked variable pairs is never used

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637-637: Unpacked variable positions is never used

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637-637: Unpacked variable normals is never used

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637-637: Unpacked variable tangents is never used

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659-659: Unpacked variable pairs is never used

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(RUF059)

659-659: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

659-659: Unpacked variable normals is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

659-659: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

685-685: Unpacked variable pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

685-685: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

685-685: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

716-716: Unpacked variable pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

716-716: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

755-755: Unpacked variable pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

755-755: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

755-755: Unpacked variable penetrations is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

755-755: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

785-785: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

785-785: Unpacked variable normals is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

785-785: Unpacked variable penetrations is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

785-785: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

812-812: Unpacked variable pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

812-812: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

812-812: Unpacked variable normals is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

812-812: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

830-830: Unpacked variable pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

830-830: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

830-830: Unpacked variable normals is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

830-830: Unpacked variable penetrations is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

830-830: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

858-858: Unpacked variable contact_pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

858-858: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

858-858: Unpacked variable penetrations is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

858-858: Unpacked variable tangents is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

882-882: Unpacked variable pairs is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

882-882: Unpacked variable positions is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

882-882: Unpacked variable penetrations is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

newton/_src/sim/collide_api.py

136-136: Unused function argument: shape_type

(ARG001)

229-229: Avoid specifying long messages outside the exception class

(TRY003)

newton/_src/geometry/narrow_phase.py

61-61: Unused function argument: tid

(ARG001)

188-188: Unused function argument: rigid_contact_margin

(ARG001)

240-240: Unpacked variable scale_a is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

248-248: Unpacked variable scale_b is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

475-475: Unpacked variable scale_b is never used

Prefix it with an underscore or any other dummy variable pattern

(RUF059)

532-532: Unused function argument: geom_types

(ARG001)

newton/_src/geometry/collision_core.py

212-212: Value being cast to int is already an integer

Remove unnecessary int call

(RUF046)

446-446: Unused function argument: shape_data

(ARG001)

643-643: Unused function argument: mesh_id_a

(ARG001)

874-874: Value being cast to int is already an integer

Remove unnecessary int call

(RUF046)

⏰ Context from checks skipped due to timeout of 900000ms. You can increase the timeout in your CodeRabbit configuration to a maximum of 15 minutes (900000ms). (1)

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Actionable comments posted: 2

🧹 Nitpick comments (5)

newton/_src/sim/collide_unified.py (2)
322-348: Remove unused parameter.

The shape_type parameter (line 327) is never used in the kernel body. This adds unnecessary overhead and clutter.

Apply this diff:
 @wp.kernel
 def prepare_geom_data_kernel(
     shape_transform: wp.array(dtype=wp.transform),
     shape_body: wp.array(dtype=int),
-    shape_type: wp.array(dtype=int),
     shape_scale: wp.array(dtype=wp.vec3),
     shape_thickness: wp.array(dtype=float),
     body_q: wp.array(dtype=wp.transform),
     # Outputs
     geom_data: wp.array(dtype=wp.vec4),  # scale xyz, thickness w
     geom_transform: wp.array(dtype=wp.transform),  # world space transform
 ):
And update the launch call at line 546:
         inputs=[
             model.shape_transform,
             model.shape_body,
-            model.shape_type,
             model.shape_scale,
             model.shape_thickness,
             state.body_q,
         ],
358-613: LGTM with minor suggestion.

The refactored CollisionPipelineUnified class correctly integrates the NarrowPhase workflow with proper device management and buffer handling.

Regarding line 419, while the exception message is descriptive, if you prefer to follow the static analysis suggestion strictly, you could extract it to a module-level constant. However, this is a minor style point and the current approach is acceptable.
newton/_src/geometry/narrow_phase.py (3)
50-131: Consider removing unused parameter.

The tid parameter (line 61) is never used in the function body. Unlike the similar write_contact function in collide_unified.py which stores tid in out_tids, this simplified version doesn't have that output array.

If tid is not needed for API compatibility or future use, remove it:
 @wp.func
 def write_contact_simple(
     contact_point_center: wp.vec3,
     contact_normal_a_to_b: wp.vec3,
     contact_distance: float,
     radius_eff_a: float,
     radius_eff_b: float,
     thickness_a: float,
     thickness_b: float,
     shape_a: int,
     shape_b: int,
-    tid: int,
     rigid_contact_margin: float,
     contact_max: int,
     # outputs
     contact_count: wp.array(dtype=int),
     contact_pair: wp.array(dtype=wp.vec2i),
     contact_position: wp.array(dtype=wp.vec3),
     contact_normal: wp.array(dtype=wp.vec3),
     contact_penetration: wp.array(dtype=float),
     contact_tangent: wp.array(dtype=wp.vec3),
 ):
And update all call sites (lines 349, 534, 653).

179-369: Address unused parameter.

The rigid_contact_margin parameter (line 189) is never used in the kernel. Instead, per-geometry cutoff values from geom_cutoff are used (lines 327-330). Consider either:

Removing the parameter if per-geometry cutoff is always preferred

Using it as a fallback when geom_cutoff values are zero

Option 1 - Remove the parameter:
 @wp.kernel(enable_backward=False)
 def narrow_phase_kernel_gjk_mpr(
     candidate_pair: wp.array(dtype=wp.vec2i),
     num_candidate_pair: wp.array(dtype=int),
     geom_types: wp.array(dtype=int),
     geom_data: wp.array(dtype=wp.vec4),
     geom_transform: wp.array(dtype=wp.transform),
     geom_source: wp.array(dtype=wp.uint64),
     geom_cutoff: wp.array(dtype=float),
     geom_collision_radius: wp.array(dtype=float),
-    rigid_contact_margin: float,
     contact_max: int,
     total_num_threads: int,
     # outputs
     ...
And update the launch call in NarrowPhase.launch (line 777).

556-673: Remove unused parameter, but logic is correct.

The geom_types parameter (line 558) is never used in the kernel. The kernel correctly processes mesh-plane collisions by checking each mesh vertex against the infinite plane.

Apply this diff:
 @wp.kernel(enable_backward=False)
 def narrow_phase_process_mesh_plane_contacts_kernel(
-    geom_types: wp.array(dtype=int),
     geom_data: wp.array(dtype=wp.vec4),
     geom_transform: wp.array(dtype=wp.transform),
     geom_source: wp.array(dtype=wp.uint64),
     geom_cutoff: wp.array(dtype=float),  # Per-geometry cutoff distances
     shape_pairs_mesh_plane: wp.array(dtype=wp.vec2i),
     shape_pairs_mesh_plane_cumsum: wp.array(dtype=int),
     shape_pairs_mesh_plane_count: wp.array(dtype=int),
     mesh_plane_vertex_total_count: wp.array(dtype=int),
     contact_max: int,
     total_num_threads: int,
     # outputs
     ...
And update the launch call at line 804.

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📥 Commits

Reviewing files that changed from the base of the PR and between d486a93 and 1084f50.

📒 Files selected for processing (3)

newton/_src/geometry/narrow_phase.py (1 hunks)
newton/_src/sim/collide_unified.py (8 hunks)
newton/tests/test_narrow_phase.py (1 hunks)

🧰 Additional context used

🧠 Learnings (11)

📓 Common learnings

Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).

Learnt from: WenchaoHuang
Repo: newton-physics/newton PR: 835
File: newton/_src/solvers/style3d/collision/collision.py:49-53
Timestamp: 2025-09-26T05:58:21.013Z
Learning: In newton/_src/solvers/style3d/collision/collision.py, the broad_phase buffers (broad_phase_ee, broad_phase_ef, broad_phase_vf) created with wp.array() don't need zero-initialization because they follow a write-first-read-later pattern: BVH query kernels in frame_begin() populate these buffers completely (write-only operations), and collision kernels only read from them afterward in accumulate_contact_force(), ensuring no undefined reads occur.

📚 Learning: 2025-08-12T17:51:37.474Z

Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py
newton/tests/test_narrow_phase.py

📚 Learning: 2025-09-26T05:58:21.013Z

Learnt from: WenchaoHuang
Repo: newton-physics/newton PR: 835
File: newton/_src/solvers/style3d/collision/collision.py:49-53
Timestamp: 2025-09-26T05:58:21.013Z
Learning: In newton/_src/solvers/style3d/collision/collision.py, the broad_phase buffers (broad_phase_ee, broad_phase_ef, broad_phase_vf) created with wp.array() don't need zero-initialization because they follow a write-first-read-later pattern: BVH query kernels in frame_begin() populate these buffers completely (write-only operations), and collision kernels only read from them afterward in accumulate_contact_force(), ensuring no undefined reads occur.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py
newton/tests/test_narrow_phase.py

📚 Learning: 2025-09-26T05:58:21.013Z

Learnt from: WenchaoHuang
Repo: newton-physics/newton PR: 835
File: newton/_src/solvers/style3d/collision/collision.py:49-53
Timestamp: 2025-09-26T05:58:21.013Z
Learning: In newton/_src/solvers/style3d/collision/collision.py, the broad_phase buffers (broad_phase_ee, broad_phase_ef, broad_phase_vf) created with wp.array() don't need zero-initialization because the BVH query kernels that use them always write the count to query_results[0, tid] = 0 first before populating any data, ensuring no undefined reads occur.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-10-24T07:56:14.792Z

Learnt from: nvtw
Repo: newton-physics/newton PR: 981
File: newton/_src/geometry/collision_convex.py:180-289
Timestamp: 2025-10-24T07:56:14.792Z
Learning: In newton/_src/geometry/collision_convex.py, the single-contact solver (create_solve_convex_single_contact) intentionally returns count=1 even when shapes are separated (signed_distance > contact_threshold). The calling code is responsible for deciding whether to accept the contact based on the signed distance value. This design pushes filtering responsibility to the caller.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-10-10T10:47:41.082Z

Learnt from: nvtw
Repo: newton-physics/newton PR: 899
File: newton/tests/test_rigid_contact.py:214-268
Timestamp: 2025-10-10T10:47:41.082Z
Learning: In `newton/tests/test_rigid_contact.py`, using `add_shape_plane(width=0, length=0)` for an infinite plane works correctly with the collision system and does not cause degenerate AABB issues in the test scenario `test_shape_collisions_gjk_mpr_multicontact`.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py
newton/tests/test_narrow_phase.py

📚 Learning: 2025-10-30T07:28:13.077Z

Learnt from: nvtw
Repo: newton-physics/newton PR: 984
File: newton/_src/geometry/broad_phase_nxn.py:318-336
Timestamp: 2025-10-30T07:28:13.077Z
Learning: In Newton's BroadPhaseAllPairs class (newton/_src/geometry/broad_phase_nxn.py), device management is the caller's responsibility. The library intentionally does not perform automatic device transfers for precomputed arrays in the launch method, even if there's a device mismatch. Users must ensure that the device specified in __init__ matches the device used in launch.

Applied to files:

newton/_src/sim/collide_unified.py
newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-08-12T18:04:06.577Z

Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/_src/solvers/featherstone/kernels.py:75-75
Timestamp: 2025-08-12T18:04:06.577Z
Learning: The Newton physics framework requires nightly Warp builds, which means compatibility concerns with older stable Warp versions (like missing functions such as wp.spatial_adjoint) are not relevant for this project.

Applied to files:

newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-08-12T05:17:34.423Z

Learnt from: shi-eric
Repo: newton-physics/newton PR: 521
File: newton/examples/example_cloth_hanging.py:36-36
Timestamp: 2025-08-12T05:17:34.423Z
Learning: The Newton migration guide (docs/migration.rst) is specifically for documenting how to migrate existing warp.sim functionality to Newton equivalents. New Newton-only features that didn't exist in warp.sim do not need migration documentation.

Applied to files:

newton/_src/geometry/narrow_phase.py

📚 Learning: 2025-08-12T17:58:16.929Z

Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/tests/test_ik.py:25-26
Timestamp: 2025-08-12T17:58:16.929Z
Learning: In the Newton physics engine codebase, it's acceptable for tests to import and use private `_src` internal modules and functions when needed for testing purposes, even though this breaks the public API boundary. This is an intentional project decision for test code.

Applied to files:

newton/tests/test_narrow_phase.py

📚 Learning: 2025-07-15T21:00:03.709Z

Learnt from: dylanturpin
Repo: newton-physics/newton PR: 394
File: newton/tests/test_ik.py:119-119
Timestamp: 2025-07-15T21:00:03.709Z
Learning: In the Newton physics engine codebase, it's acceptable to test private API functions (those prefixed with underscore) in unit and component tests, as the maintainers consider this appropriate for testing internal functionality.

Applied to files:

newton/tests/test_narrow_phase.py

🧬 Code graph analysis (3)

newton/_src/sim/collide_unified.py (4)

newton/_src/geometry/collision_core.py (1)

compute_tight_aabb_from_support (367-427)

newton/_src/geometry/narrow_phase.py (2)

NarrowPhase (675-878)

launch (676-878)

newton/_src/geometry/support_function.py (2)

GenericShapeData (90-109)

SupportMapDataProvider (56-64)

newton/_src/sim/contacts.py (1)

Contacts (23-93)

newton/_src/geometry/narrow_phase.py (3)

newton/_src/geometry/collision_core.py (7)

compute_gjk_mpr_contacts (241-363)

compute_tight_aabb_from_support (367-427)

find_contacts (563-625)

find_pair_from_cumulative_index (850-880)

get_triangle_shape_from_mesh (884-932)

mesh_vs_convex_midphase (750-846)

pre_contact_check (629-746)

newton/_src/geometry/support_function.py (3)

GenericShapeData (90-109)

SupportMapDataProvider (56-64)

pack_mesh_ptr (68-75)

newton/_src/geometry/types.py (1)

GeoType (25-67)

newton/tests/test_narrow_phase.py (2)

newton/_src/geometry/narrow_phase.py (2)

NarrowPhase (675-878)

launch (676-878)

newton/_src/geometry/types.py (1)

GeoType (25-67)

🪛 Ruff (0.14.2)

newton/_src/sim/collide_unified.py

326-326: Unused function argument: shape_type

(ARG001)

419-419: Avoid specifying long messages outside the exception class

(TRY003)

newton/_src/geometry/narrow_phase.py

61-61: Unused function argument: tid

(ARG001)

189-189: Unused function argument: rigid_contact_margin

(ARG001)

558-558: Unused function argument: geom_types

(ARG001)

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GitHub Check: Run GPU Benchmarks (Pull Request)
GitHub Check: Run GPU Unit Tests on AWS EC2 (Pull Request)

🔇 Additional comments (11)

newton/_src/sim/collide_unified.py (4)

26-36: LGTM!

The imports are clean and necessary for the refactored collision pipeline using NarrowPhase.

53-151: LGTM!

The write_contact function correctly handles contact data conversion with proper coordinate frame transforms and thread-safe atomic operations.

153-218: LGTM!

The AABB computation correctly uses support functions for tight bounds on convex shapes and conservative bounding spheres for infinite planes and meshes.

615-668: LGTM!

The from_model factory method correctly handles default parameter extraction from the Model and properly configures the collision pipeline for different broad phase modes.

newton/_src/geometry/narrow_phase.py (4)

39-48: LGTM!

Simple utility kernel that correctly extracts scale components from packed geometry data.

133-177: LGTM!

The extract_shape_data helper correctly unpacks geometry data from the narrow phase API arrays and handles special cases like convex meshes.

371-449: LGTM!

The mesh triangle overlap detection correctly uses BVH queries with tiled operations when enabled, and properly handles mesh vs convex shape pairs.

451-554: LGTM!

The triangle contact processing correctly extracts triangle geometry from meshes and generates contacts using GJK/MPR collision detection.

newton/tests/test_narrow_phase.py (3)

41-147: LGTM!

The helper functions provide comprehensive validation for contact conventions including normal directions, contact positions, and surface reconstruction. The validation logic is sound and well-documented.

149-287: LGTM!

The test infrastructure is well-designed with clean helper methods for creating geometry arrays and running the narrow phase. The _create_geometry_arrays method provides a flexible, declarative way to specify test geometries.

288-924: Excellent test coverage!

The test suite comprehensively covers:

All major primitive collision pairs (sphere, box, capsule, cylinder, plane)

Various contact scenarios (separated, touching, penetrating)

Edge cases (self-collision, multiple pairs, rotated geometries)

Contact convention validation (unit normals, perpendicular tangents, surface reconstruction)

The tests follow the documented conventions and provide thorough validation of the NarrowPhase API.

nvtw added 13 commits October 30, 2025 14:19

Started to remove reusable collision helper functions into collision_…

20a552c

…core.py

Move more helper functions into collision_core

b3b0466

Create more reusable functions

ea90317

Move the reusable functions into collision_core

46fce44

Move more code into collision_core.py

4db608a

Remove redundant arguments from compute_gjk_mpr_contacts

dbaf42d

Extract more reusable code

2952dc1

The narrow_phase API starts to work

a98c911

Fix a sign mismatch

33829c4

Slightly reduce duplicated code

896c103

Add narrow phase unit test

01ec990

Add more tests

0c3cce1

Add a temporarty file showing how a collision pipeline that uses the …

d486a93

…new NarrowPhase class would look like

nvtw self-assigned this Oct 30, 2025

nvtw marked this pull request as draft October 30, 2025 16:31

coderabbitai Bot reviewed Oct 30, 2025

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Comment thread newton/_src/geometry/collision_core.py

Comment thread newton/_src/sim/collide_api.py Outdated

nvtw changed the title ~~Add the NarrowPhase class to the public API~~ Draft: Add the NarrowPhase class to the public API Oct 31, 2025

nvtw added 3 commits October 31, 2025 11:15

Fix mesh vs plane collisions in narrow_phase

6579e0c

Remove duplicated code

001948d

Fix the unit tests

1084f50

nvtw force-pushed the dev/tw/narrow_phase_api branch from 02821b1 to 1084f50 Compare October 31, 2025 10:36

Further extended the unit tests

20762c7

coderabbitai Bot reviewed Oct 31, 2025

View reviewed changes

Comment thread newton/_src/geometry/narrow_phase.py

Comment thread newton/_src/sim/collide_unified.py

nvtw added 5 commits October 31, 2025 13:05

Extend the unit tests

c1dff35

Bring back the effective radius for spheres and capsules

9fadb45

Further extend the tests

f55dfe5

Remove unused parameter

fdf53ee

Merge branch 'main' into dev/tw/narrow_phase_api

da4723e

This was referenced Dec 12, 2025

SDF Hydroelastic Collisions #1248

Merged

Cable VBD with Rigid Body Sim #1114

Merged

This was referenced Jan 16, 2026

Unified collision pipeline performance improvements #1375

Merged

change all occurences of wp.inf to MAXVAL #1391

Merged

Fix bug in SDF collisions and improve SDF contact reduction #1437

Merged

eric-heiden pushed a commit to eric-heiden/newton that referenced this pull request Jan 28, 2026

Introduce the NarrowPhase class (newton-physics#1014)

68cd3f1

This was referenced Feb 2, 2026

Explicit Contacts instantiation with Model.contacts() and CollisionPipeline.contacts() #1445

Merged

Remove standard collision pipeline #1538

Merged

This was referenced Feb 12, 2026

Fix the quadruped benchmark regression #1615

Merged

Finalize the collision API #1581

Merged

Add overflow warnings for narrow-phase collision buffers #1643

Merged

Adjust SDF API #1644

Merged

This was referenced Feb 24, 2026

Margin and Gap rename #1732

Merged

Optimize and extend the Newton heightfield collider support #1756

Closed

Complete collision support matrix #1807

Merged

Fix handling of scaled meshes in NarrowPhase #1817

Merged

coderabbitai Bot mentioned this pull request Mar 13, 2026

Clean up varying contact normal directions #2069

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coderabbitai Bot mentioned this pull request Mar 23, 2026

Improve the contact differentiability #2164

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mmacklin pushed a commit to mmacklin/newton that referenced this pull request Apr 7, 2026

Introduce the NarrowPhase class (newton-physics#1014)

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Add support for speculative contacts #2366

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Mesh and Heightfield collision support for Kamino #2280

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Introduce the NarrowPhase class#1014

Introduce the NarrowPhase class#1014
nvtw merged 36 commits into
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Newton Migration Guide

Before your PR is "Ready for review"

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Walkthrough

Changes

Sequence Diagram(s)

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Possibly related PRs

Suggested reviewers

Pre-merge checks and finishing touches

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Codecov Report

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2 participants

nvtw commented Oct 30, 2025 •

edited by coderabbitai Bot

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coderabbitai Bot commented Oct 30, 2025 •

edited

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codecov Bot commented Oct 30, 2025 •

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