Python bindings API reference#

cressim_neo is the low-level bindings and runtime package.

class cressim_neo.AuthoredParticleCollisionFilterState#

Bases: pybind11_object

Collision filtering override for a referenced particle.

property collision_layer#: Collision layer bit; zero is normalized to one on upsert.

property collision_mask#: Collision mask bitfield.

property enabled#: Whether the collision filter is enabled.

property filter_id#: Stable filter ID; an invalid ID is assigned on upsert.

property particle#: Particle reference to which the collision filter applies.

class cressim_neo.AuthoredParticleDistanceConstraintState#

Bases: pybind11_object

Authored distance constraint between two referenced particles.

property compliance#: Non-negative constraint compliance.

property constraint_id#: Stable constraint ID; an invalid ID is assigned on upsert.

property enabled#: Whether the solver enables this constraint.

property particle_a#: First constrained particle reference.

property particle_b#: Second constrained particle reference.

property rest_length#: Non-negative target separation.

class cressim_neo.AuthoredParticleReference#

Bases: pybind11_object

Identifies a particle owned by an entity.

property entity_id#: Owning soft-body, strand, or rigid-body entity ID.

property local_particle_index#: Index within the selected entity’s particles or rigid proxy particles.

property type#: Selects how the entity ID and local particle index are resolved.

class cressim_neo.AuthoredParticleReferenceType#

Bases: pybind11_object

Selects the owner type of an authored particle reference.

Members:

SoftBodyParticle : Particle belonging to a soft body.

StrandParticle : Particle belonging to a strand.

RigidProxyParticle : Proxy particle belonging to a rigid body.

RigidProxyParticle = <AuthoredParticleReferenceType.RigidProxyParticle: 2>#

SoftBodyParticle = <AuthoredParticleReferenceType.SoftBodyParticle: 0>#

StrandParticle = <AuthoredParticleReferenceType.StrandParticle: 1>#

AuthoredParticleReferenceType.name -> str

property value#

class cressim_neo.AuthoredParticleSequenceState#

Bases: pybind11_object

Ordered authored particle references.

property enabled#: Whether the sequence is enabled.

property entries#: Ordered particle references in the sequence.

property sequence_id#: Stable sequence ID; an invalid ID is assigned on upsert.

class cressim_neo.AuthoredRigidDistanceConstraintState#

Bases: pybind11_object

Distance constraint between anchors on two rigid bodies.

property compliance#: Non-negative constraint compliance.

property constraint_id#: Stable constraint ID; an invalid ID is assigned on upsert.

property enabled#: Whether the constraint is enabled.

property entity_a#: First rigid-body entity ID.

property entity_b#: Second rigid-body entity ID.

property local_anchor_a#: Anchor position in the first rigid body’s local space.

property local_anchor_b#: Anchor position in the second rigid body’s local space.

property rest_distance#: Non-negative target distance between anchors.

class cressim_neo.AuthoredRigidParticleAttachmentConstraintState#

Bases: pybind11_object

Attachment constraint between a referenced particle and a rigid body.

property compliance#: Non-negative attachment compliance.

property constraint_id#: Stable constraint ID; an invalid ID is assigned on upsert.

property enabled#: Whether the attachment is enabled.

property local_anchor#: Anchor position in rigid-body local space.

property particle#: Particle reference to attach.

property rigid_body_entity_id#: Rigid-body entity ID providing the attachment anchor.

class cressim_neo.AuthoredRoutedCableConstraintState#

Bases: pybind11_object

Cable-length constraint routed through rigid-body guide points.

property compliance#: Non-negative constraint compliance.

property constraint_id#: Stable constraint ID; an invalid ID is assigned on upsert.

property enabled#: Whether the cable constraint is enabled.

property route_points#: Ordered rigid-body guide points; at least two are required on upsert.

property target_length#: Non-negative target cable length.

property tension_only#: Whether the constraint resists stretching only.

class cressim_neo.AuthoredRoutedCableRoutePoint#

Bases: pybind11_object

Guide point on a rigid body used to route a cable.

property entity_id#: Rigid-body entity ID containing the guide point.

property local_guide_offset#: Guide-point position in rigid-body local space.

class cressim_neo.AuthoredStrandRigidAttachmentConstraintState#

Bases: pybind11_object

One-way attachment in which a rigid body drives a strand station pose.

property constraint_id#: Stable constraint ID; an invalid ID is assigned on upsert.

property enabled#: Whether the attachment is enabled.

property local_anchor#: Anchor position in rigid-body local space.

property local_rotation#: Station orientation relative to the rigid body; normalized on upsert.

property local_segment_index#: Index of the attached strand segment.

property rigid_body_entity_id#: Rigid-body entity ID driving the strand station.

property rotation_compliance#: Non-negative rotation compliance.

property segment_t#: Position along the segment, clamped to the range [0, 1] on upsert.

property strand_entity_id#: Strand entity ID containing the attached segment.

property translation_compliance#: Non-negative translation compliance.

class cressim_neo.AuthoredSuturingSequenceState#

Bases: pybind11_object

Authored suturing path formed from ordered particle references.

property enabled#: Whether the suturing sequence is enabled.

property entries#: Ordered particle references forming the suturing path.

property path_node_spacing#: Desired spacing between generated path nodes; zero selects a derived spacing.

property sequence_id#: Stable sequence ID; an invalid ID is assigned on upsert.

property tip_entry_index#: Index of the entry selected as the suturing-path tip.

class cressim_neo.BallJointState#

Bases: pybind11_object

State for a ball joint that constrains two local anchors together.

property body_a#: First connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property body_b#: Second connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property enabled#: Enable this joint.

property joint_id#: Joint identifier; an invalid ID creates a joint on upsert.

property local_anchor_a#: Joint anchor in body A local coordinates.

property local_anchor_b#: Joint anchor in body B local coordinates.

property suppress_connected_body_collisions#: Suppress collisions between the connected bodies.

class cressim_neo.CameraBackgroundMode#

Bases: pybind11_object

Background clear modes for camera rendering.

Members:

ClearColor : Solid clear color background.

EnvironmentCubemap : Skybox / Image-Based Lighting cubemap background.

ClearColor = <CameraBackgroundMode.ClearColor: 0>#

EnvironmentCubemap = <CameraBackgroundMode.EnvironmentCubemap: 1>#

CameraBackgroundMode.name -> str

property value#

class cressim_neo.CameraComponent#

Bases: pybind11_object

Camera component defining projection, view targets, and rendering modes.

property background_mode#: Camera background rendering mode.

property clear_color#: Whether to clear target color buffer before rendering.

property clear_color_value#: Clear color RGBA values.

property clear_depth#: Whether to clear target depth buffer before rendering.

property clear_depth_value#: Clear depth value.

property far_clip#: Far clipping plane distance.

property near_clip#: Near clipping plane distance.

property output#: Target render output binding descriptor.

property output_height#: Optional explicit target height (0 for default).

property output_width#: Optional explicit target width (0 for default).

property product#: Rendered camera output product type.

property render_order#: Rendering priority order (ascending).

property vertical_fov_degrees#: Vertical Field-of-View in degrees.

property viewport#: Viewport rectangle on the output target.

class cressim_neo.CameraProduct#

Bases: pybind11_object

Output product modes rendered by the camera.

Members:

ColorDepth : Standard RGBA color and depth output.

Depth : Single-channel depth map output.

SegmentationDepth : Semantic segmentation mask and depth output.

ColorDepth = <CameraProduct.ColorDepth: 0>#

Depth = <CameraProduct.Depth: 1>#

SegmentationDepth = <CameraProduct.SegmentationDepth: 2>#

CameraProduct.name -> str

property value#

class cressim_neo.ColliderComponent#

Bases: pybind11_object

Collider component attached to entities for physical collision queries and dynamics.

property collision_layer#: Bitmask collision layer.

property collision_mask#: Bitmask collision filtering mask.

property enabled#: Active collision state.

property friction#: Dynamic friction coefficient.

property local_position#: Local offset position relative to transform.

property local_rotation#: Local offset rotation relative to transform.

property restitution#: Coefficient of restitution (bounciness).

property shape_params#: Shape dimensions (e.g. radius, box extents).

property shape_type#: Collision primitive geometry shape type.

property static_friction#: Static friction coefficient (-1 to reuse dynamic friction).

class cressim_neo.ColliderHandle#

Bases: pybind11_object

Identifier for a collider registered with a World.

property id#: Collider identifier.

is_valid(self: cressim_neo._cressim_neo.ColliderHandle) → bool#: Returns whether this handle has a non-invalid identifier.

class cressim_neo.ColliderShapeType#

Bases: pybind11_object

Collider primitive geometry types.

Members:

Sphere : Spherical collider primitive.

Box : Box collider primitive.

Capsule : Capsule collider primitive.

Box = <ColliderShapeType.Box: 1>#

Capsule = <ColliderShapeType.Capsule: 2>#

Sphere = <ColliderShapeType.Sphere: 0>#

ColliderShapeType.name -> str

property value#

class cressim_neo.ConstraintLayoutMapping#

Bases: pybind11_object

Prepared host-side slot layout for rigid-adjacent constraints.

property layout_revision#: Prepared constraint slot-layout invalidation key produced by Runtime.prepare().

property rigid_distance_constraints#: Prepared layout for rigid distance constraints.

property rigid_particle_attachments#: Prepared layout for rigid-particle attachment constraints.

property routed_cables#: Prepared layout for routed cable constraints.

class cressim_neo.CustomComputeDispatchDesc#

Bases: pybind11_object

Dispatch execution parameters for custom compute passes.

property count_resource_key#: Resource key used for element count dispatch mode.

property group_count_x#: Dispatch thread group count along X dimension.

property group_count_y#: Dispatch thread group count along Y dimension.

property group_count_z#: Dispatch thread group count along Z dimension.

property mode#: Dispatch mode.

class cressim_neo.CustomComputeDispatchMode#

Bases: pybind11_object

Compute dispatch mode for executing custom compute passes.

Members:

ExplicitGroupCount : Dispatch using explicit 3D thread group counts.

ResourceElementCount : Compute thread group count dynamically from resource element count.

ExplicitGroupCount = <CustomComputeDispatchMode.ExplicitGroupCount: 0>#

ResourceElementCount = <CustomComputeDispatchMode.ResourceElementCount: 1>#

CustomComputeDispatchMode.name -> str

property value#

class cressim_neo.CustomComputePassDesc#

Bases: pybind11_object

Complete descriptor for compiling and instantiating a custom compute shader pass.

property constant_buffer_size_bytes#: Constant buffer size in bytes.

property constant_buffer_variable_name#: Constant buffer HLSL variable name.

property constant_data#: Initial constant buffer binary data payload.

property debug_name#: Debug label for diagnostics.

property dispatch#: Dispatch parameters.

property entry_point#: Shader entry point function name.

property include_directories#: Custom shader search paths for HLSL includes.

property resource_bindings#: Resource bindings array.

property shader_directory#: Root directory for shader source files.

property shader_path#: Shader source path relative to shaderDirectory.

property shader_source#: Optional raw HLSL shader source code string.

property thread_group_size_x#: Workgroup size X dimension.

property thread_group_size_y#: Workgroup size Y dimension.

property thread_group_size_z#: Workgroup size Z dimension.

class cressim_neo.CustomComputePassHandle#

Bases: pybind11_object

Handle wrapper identifying a registered custom compute shader pass.

property id#: Unique handle identifier.

is_valid(self: cressim_neo._cressim_neo.CustomComputePassHandle) → bool#

Checks if the custom compute pass handle is valid.

Returns:: True if valid, false otherwise.

class cressim_neo.CustomComputeResourceAccess#

Bases: pybind11_object

Access permission mode for custom compute shader resources.

Members:

ReadOnly : Read-only shader resource.

WriteOnly : Write-only unordered access resource.

ReadWrite : Read-write unordered access resource.

ReadOnly = <CustomComputeResourceAccess.ReadOnly: 0>#

ReadWrite = <CustomComputeResourceAccess.ReadWrite: 2>#

WriteOnly = <CustomComputeResourceAccess.WriteOnly: 1>#

CustomComputeResourceAccess.name -> str

property value#

class cressim_neo.CustomComputeResourceBindingDesc#

Bases: pybind11_object

Binding descriptor mapping a GPU resource to a compute shader variable name.

property access#: Resource access mode.

property render_target_binding#: Optional render target binding.

property render_target_texture_plane#: Texture plane selection (Color, Depth).

property resource_key#: Registered engine resource key.

property shader_variable_name#: HLSL shader variable name.

property shared_buffer_handle#: Optional shared engine GPU buffer handle.

class cressim_neo.CustomComputeResourceDesc#

Bases: pybind11_object

Metadata descriptor for a custom compute GPU resource.

property access#: Access mode.

property binding_generation#: Resource binding invalidation generation key.

property element_count#: Number of elements in resource.

property element_stride_bytes#: Stride per element in bytes.

property key#: Unique resource string identifier key.

property kind#: Resource type kind (Buffer, Texture).

class cressim_neo.CustomComputeResourceKind#

Bases: pybind11_object

Resource type for custom compute shader bindings.

Members:

Buffer : Structured or raw GPU buffer resource.

Texture : Texture image resource.

Buffer = <CustomComputeResourceKind.Buffer: 0>#

Texture = <CustomComputeResourceKind.Texture: 1>#

CustomComputeResourceKind.name -> str

property value#

class cressim_neo.DebugViewerApp#

Bases: pybind11_object

Interactive debug viewer application.

initialize(self: cressim_neo._cressim_neo.DebugViewerApp, desc: cressim_neo._cressim_neo.DebugViewerAppDesc, config: cressim_neo._cressim_neo.RuntimeConfig) → bool#: Initializes the viewer and updates config with presentation settings and native window handles. Zero dimensions are normalized and the two fullscreen modes are mutually exclusive. Returns False for validation, GLFW, window, or platform-view failures.

request_exit(self: cressim_neo._cressim_neo.DebugViewerApp) → None#: Requests that the active viewer loop exit.

run(self: cressim_neo._cressim_neo.DebugViewerApp, runtime: object, binding: object, callbacks: object = None) → bool#: Runs the viewer loop using a live camera entity and initialized runtime. before_tick runs before prepare/upload/physics and after_tick after end_frame. Headless runs need a nonzero max_frames. Returns False for setup, resource, or video-capture failures; in-frame upload/physics failures only skip that simulation work.

shutdown(self: cressim_neo._cressim_neo.DebugViewerApp) → None#: Shuts down the viewer and releases its window resources; safe before initialization or more than once.

class cressim_neo.DebugViewerAppDesc#

Bases: pybind11_object

Configuration for the debug viewer application.

property enable_debug_particles#: Whether to enable debug-particle rendering.

property fixed_delta_seconds#: Fixed frame delta in seconds.

property height#: Requested render target and window height in pixels.

property input_sensitivity#: Mouse-look input sensitivity.

property max_frames#: Maximum number of viewer frames; zero leaves the frame count unbounded.

property max_move_speed#: Upper bound for free-camera movement speed.

property min_move_speed#: Lower bound for free-camera movement speed.

property move_speed#: Default free-camera movement speed.

property show_stats#: Whether to show statistics in the window title and periodic logs.

property speed_boost_scale#: Multiplier applied while boost movement is active.

property speed_slow_scale#: Multiplier applied while slow movement is active.

property start_fullscreen#: Whether to start in exclusive fullscreen mode.

property start_fullscreen_windowed#: Whether to start in borderless fullscreen-windowed mode.

property stats_interval_frames#: Frame interval used for telemetry logging.

property step_simulation#: Whether each viewer tick advances simulation physics and sensors.

property use_fixed_timestep#: Whether viewer ticks use fixed_delta_seconds instead of wall-clock time.

property v_sync#: Whether presentation uses vertical synchronization.

property wheel_speed_scale#: Mouse-wheel adjustment scale for movement speed.

property width#: Requested render target and window width in pixels.

property window_enabled#: Whether to create a native viewer window.

property window_title#: Window title.

property window_visible#: Whether a created viewer window starts visible.

class cressim_neo.DebugViewerCallbacks#

Bases: pybind11_object

Optional Python callbacks invoked around each viewer tick.

property after_tick#: Callable invoked after each viewer tick as callback(frame_context, runtime); set to None to clear it.

property before_tick#: Callable invoked before each viewer tick as callback(frame_context, runtime); set to None to clear it.

class cressim_neo.DebugViewerCameraBinding#

Bases: pybind11_object

Viewer camera selection and optional input overrides.

property camera_entity#: Entity ID of the camera controlled and presented by the viewer.

property input_sensitivity#: Mouse-look sensitivity override; zero uses the application setting.

property move_speed#: Free-camera movement speed override; zero uses the application setting.

property speed_boost_scale#: Boost movement scale override; zero uses the application setting.

property speed_slow_scale#: Slow movement scale override; zero uses the application setting.

class cressim_neo.DirectionalLightComponent#

Bases: pybind11_object

Directional light source for global scene illumination and shadow mapping.

property casts_shadows#: Enable shadow map generation.

property color#: Light color RGB values.

property direction#: Light direction vector.

property intensity#: Illumination intensity multiplier.

property range#: Currently unused for directional lights.

property shadow_bias#: Shadow depth comparison bias.

property shadow_distance#: Maximum shadow rendering distance.

property shadow_fade_distance#: Distance over which shadows fade out.

class cressim_neo.EnvironmentFluidDesc#

Bases: pybind11_object

Configures fluid surface filtering and compositing for an environment.

property depth_edge_threshold#: Depth discontinuity threshold used for fluid normal reconstruction.

property enable_background_refraction#: Whether fluid compositing refracts the background color.

property filter_depth_threshold#: Depth threshold for fluid depth filtering; values at or below 1e-4 use 1e-4.

property filter_radius_pixels#: Maximum fluid depth-filter radius in pixels; values below one are clamped to one.

property filter_world_radius#: World-space fluid depth-filter radius; values at or below 1e-4 use 0.18.

property fresnel#: Fresnel factor passed to the composite shader.

property refraction_ior#: Index of refraction passed to the fluid composite shader.

property refraction_view_thickness#: View-space thickness used for fluid refraction.

property smoothness#: Fluid surface smoothness passed to the composite shader.

property specular#: RGB specular factor passed to the composite shader.

class cressim_neo.EnvironmentIblDesc#

Bases: pybind11_object

Describes image-based lighting and skybox textures for an environment.

property background_cubemap#: Cubemap used for the environment background.

property background_intensity#: Environment background intensity multiplier.

enabled(self: cressim_neo._cressim_neo.EnvironmentIblDesc, arg0: cressim_neo._cressim_neo.IblQualityTier) → bool#: Returns false for Off; for DiffuseOnly, checks that the irradiance handle ID is not invalid; for Full, checks the irradiance and prefiltered specular handle IDs.

property intensity#: Image-based-lighting intensity multiplier.

property irradiance_cubemap#: Cubemap used for diffuse image-based lighting.

property prefiltered_specular_cubemap#: Cubemap used for prefiltered specular image-based lighting.

class cressim_neo.Float3#

Bases: pybind11_object

Three-component single-precision vector.

property x#: X component.

property y#: Y component.

property z#: Z component.

class cressim_neo.Float4#

Bases: pybind11_object

Four-component single-precision vector.

property w#: W component.

property x#: X component.

property y#: Y component.

property z#: Z component.

class cressim_neo.FluidComponent#

Bases: pybind11_object

Particle-based fluid simulation component (SPH / Position-Based Fluids).

property collision_layer#: Collision layer.

property collision_mask#: Collision mask.

property material#: Fluid material properties (viscosity, surface tension).

property particle_mass#: Fluid particle mass.

property particle_radius#: Particle interaction radius.

property source#: Fluid particle emitter/initializer source descriptor.

property visual_color#: Visual RGBA color for fluid rendering.

class cressim_neo.FluidMaterialDesc#

Bases: pybind11_object

Material parameters for a fluid body.

property cfl_coefficient#: Coefficient used to derive the fluid CFL radius.

property cohesion#: Fluid cohesion coefficient.

property contact#: Particle contact material parameters.

property gravity_scale#: Multiplier applied to gravity for this fluid.

property surface_tension#: Fluid surface-tension coefficient.

property viscosity#: Fluid viscosity coefficient.

property vorticity_confinement#: Fluid vorticity-confinement coefficient.

class cressim_neo.FluidRegularGridSource#

Bases: pybind11_object

Parameters for generating fluid particles from a regular grid.

property size#: Grid extent in object space.

property target_particle_spacing#: Target distance between generated fluid particles.

class cressim_neo.FluidSourceDesc#

Bases: pybind11_object

Selects and stores source data for a fluid body.

property kind#: Selects which source-data member is used.

property regular_grid#: Source data used when kind is RegularGrid.

class cressim_neo.FluidSourceKind#

Bases: pybind11_object

Selects which member of a fluid source description is used.

Members:

RegularGrid : Generate fluid particles from a regular grid.

RegularGrid = <FluidSourceKind.RegularGrid: 0>#

FluidSourceKind.name -> str

property value#

class cressim_neo.FrameContext#

Bases: pybind11_object

Timing and index values associated with an execution frame.

property delta_seconds#: Duration of the frame, in seconds.

property frame_index#: Index associated with the frame being executed.

property time_seconds#: Time associated with the frame, in seconds.

class cressim_neo.GpuBackend#

Bases: pybind11_object

GPU execution backend.

Members:

Null : Backend without GPU execution.

D3D12 : Direct3D 12 backend.

Vulkan : Vulkan backend.

D3D12 = <GpuBackend.D3D12: 1>#

Null = <GpuBackend.Null: 0>#

Vulkan = <GpuBackend.Vulkan: 2>#

GpuBackend.name -> str

property value#

class cressim_neo.GpuDeviceDesc#

Bases: pybind11_object

Configuration for initializing the GPU device and its shader source search paths.

property default_render_target_desc#: Descriptor used for the runtime’s default render target.

property enable_validation#: Whether to enable graphics-backend validation.

property preferred_backend#: Preferred GPU execution backend.

property presentation#: Presentation and swap-chain configuration.

property shader_directory#: Optional override for the engine shader package root.

property shader_include_directories#: Ordered application shader-header search roots. Engine headers remain available under shader_directory/include.

property vulkan_shader_compiler_mode#: Shader compiler selection policy for the Vulkan backend.

class cressim_neo.GpuPresentationDesc#

Bases: pybind11_object

Platform presentation and swap-chain configuration.

property enabled#: Whether to create a presentation swap chain.

property native_connection#: XCB connection pointer represented as an integer.

property native_display#: X11 display pointer represented as an integer.

property native_window#: Platform-native window pointer represented as an integer (Win32 HWND or macOS NSView).

property native_window_id#: Platform-native window ID (X11 Window or XCB window handle on Linux).

property preferred_color_format#: Preferred swap-chain color format; TextureFormat.Unknown lets the backend choose.

property sync_interval#: Swap-chain presentation interval; one enables v-sync and zero disables it.

class cressim_neo.GpuRenderTargetBinding#

Bases: pybind11_object

Selection of one or more array layers in an offscreen render target.

property first_layer#: First target array layer included in the binding.

is_valid(self: cressim_neo._cressim_neo.GpuRenderTargetBinding) → bool#: Returns whether the binding has a non-invalid target identifier and nonzero layer count; it does not verify target existence or layer bounds.

property layer_count#: Number of consecutive target array layers included in the binding.

property target#: Target to bind.

class cressim_neo.GpuRenderTargetDesc#

Bases: pybind11_object

Descriptor for creating an offscreen GPU render target.

property array_size#: Number of array layers in each attachment.

property color#: Whether to create a color attachment.

property color_format#: Color attachment format; TextureFormat.Unknown selects an automatic format.

property debug_name#: Diagnostic label for the render target.

property depth#: Whether to create a depth attachment.

property depth_format#: Depth attachment format; TextureFormat.Unknown selects an automatic format.

property height#: Target height in pixels; zero selects the current presentation height or 720.

property layered_rendering#: Whether attachment textures support layered rendering.

property shader_readable#: Whether later shader passes may sample the attachments.

property unordered_access#: Whether the color attachment supports unordered-access views for compute passes.

property width#: Target width in pixels; zero selects the current presentation width or 1280.

class cressim_neo.GpuRenderTargetHandle#

Bases: pybind11_object

Opaque per-device handle for an offscreen render target.

property id#: Opaque render-target identifier.

class cressim_neo.GpuRenderTargetReadbackEvent#

Bases: pybind11_object

Completed CPU-side readback of an offscreen render target.

property binding#: Render-target layers read back by this event.

property color_bytes#: Packed color pixel data in row-major order.

property color_format#: Format of the color payload, when present.

property color_height#: Height of the color payload in pixels.

property color_row_stride_bytes#: Packed row size of the color payload in bytes.

property color_width#: Width of the color payload in pixels.

property depth_bytes#: Packed depth pixel data in row-major order.

property depth_format#: Format of the depth payload, when present.

property depth_height#: Height of the depth payload in pixels.

property depth_row_stride_bytes#: Packed row size of the depth payload in bytes.

property depth_width#: Width of the depth payload in pixels.

property frame_index#: Index of the frame that produced the readback.

property height#: Legacy alias for color_height.

property row_stride_bytes#: Legacy alias for color_row_stride_bytes.

property width#: Legacy alias for color_width.

class cressim_neo.GpuRenderTargetReadbackRequest#

Bases: pybind11_object

Opaque per-device handle for a queued render-target readback.

property id#: Opaque request identifier.

class cressim_neo.GpuRenderTargetTexturePlane#

Bases: pybind11_object

Texture attachment selected from a render target.

Members:

Color : Color attachment.

Depth : Depth attachment.

Color = <GpuRenderTargetTexturePlane.Color: 0>#

Depth = <GpuRenderTargetTexturePlane.Depth: 1>#

GpuRenderTargetTexturePlane.name -> str

property value#

class cressim_neo.GpuRenderViewport#

Bases: pybind11_object

Normalized viewport rectangle relative to a bound render target.

property height#: Normalized viewport height in the range [0, 1].

property width#: Normalized viewport width in the range [0, 1].

property x#: Normalized left coordinate in the range [0, 1].

property y#: Normalized top coordinate in the range [0, 1].

class cressim_neo.HingeJointState#

Bases: pybind11_object

State for a hinge joint between two rigid bodies.

property body_a#: First connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property body_b#: Second connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property constraint_compliance#: Hinge constraint compliance.

property drive_compliance#: Hinge drive compliance.

property drive_damping#: Damping applied by the hinge drive.

property drive_max_angular_velocity#: Maximum angular velocity applied by the hinge drive.

property drive_mode#: Hinge drive control mode.

property drive_target_angle#: Target angle for position drive control.

property drive_target_angular_velocity#: Target angular velocity for velocity drive control.

property enabled#: Enable this joint.

property joint_id#: Joint identifier; an invalid ID creates a joint on upsert.

property limit_enabled#: Enable hinge angle limits.

property limit_max#: Maximum hinge angle limit.

property limit_min#: Minimum hinge angle limit.

property local_anchor_a#: Joint anchor in body A local coordinates.

property local_anchor_b#: Joint anchor in body B local coordinates.

property local_rotation_a#: Joint frame orientation in body A local coordinates.

property local_rotation_b#: Joint frame orientation in body B local coordinates.

property suppress_connected_body_collisions#: Suppress collisions between the connected bodies.

class cressim_neo.IblQualityTier#

Bases: pybind11_object

Selects the image-based-lighting quality tier.

Members:

Off : Disable image-based lighting.

DiffuseOnly : Use diffuse image-based lighting only.

Full : Use diffuse and prefiltered specular image-based lighting.

DiffuseOnly = <IblQualityTier.DiffuseOnly: 1>#

Full = <IblQualityTier.Full: 2>#

Off = <IblQualityTier.Off: 0>#

IblQualityTier.name -> str

property value#

class cressim_neo.JointLayoutMapping#

Bases: pybind11_object

Prepared host-side slot layout for rigid joints.

property ball_body_ids_a#: Rigid-body IDs for ball joint endpoint A.

property ball_body_ids_b#: Rigid-body IDs for ball joint endpoint B.

property ball_body_indices_a#: Prepared rigid-body slots for ball joint endpoint A.

property ball_body_indices_b#: Prepared rigid-body slots for ball joint endpoint B.

property ball_environment_indices#: Environment indices of ball joint endpoint A.

property ball_joint_count#: Number of ball joint slots.

property ball_joint_ids#: Ball joint IDs for the ball joint slots.

property hinge_body_ids_a#: Rigid-body IDs for hinge joint endpoint A.

property hinge_body_ids_b#: Rigid-body IDs for hinge joint endpoint B.

property hinge_body_indices_a#: Prepared rigid-body slots for hinge joint endpoint A.

property hinge_body_indices_b#: Prepared rigid-body slots for hinge joint endpoint B.

property hinge_environment_indices#: Environment indices of hinge joint endpoint A.

property hinge_joint_count#: Number of hinge joint slots.

property hinge_joint_ids#: Hinge joint IDs for the hinge joint slots.

property layout_revision#: Prepared rigid-joint slot-layout invalidation key produced by Runtime.prepare().

property slider_body_ids_a#: Rigid-body IDs for slider joint endpoint A.

property slider_body_ids_b#: Rigid-body IDs for slider joint endpoint B.

property slider_body_indices_a#: Prepared rigid-body slots for slider joint endpoint A.

property slider_body_indices_b#: Prepared rigid-body slots for slider joint endpoint B.

property slider_environment_indices#: Environment indices of slider joint endpoint A.

property slider_joint_count#: Number of slider joint slots.

property slider_joint_ids#: Slider joint IDs for the slider joint slots.

property spherical_body_ids_a#: Rigid-body IDs for spherical joint endpoint A.

property spherical_body_ids_b#: Rigid-body IDs for spherical joint endpoint B.

property spherical_body_indices_a#: Prepared rigid-body slots for spherical joint endpoint A.

property spherical_body_indices_b#: Prepared rigid-body slots for spherical joint endpoint B.

property spherical_environment_indices#: Environment indices of spherical joint endpoint A.

property spherical_joint_count#: Number of spherical joint slots.

property spherical_joint_ids#: Spherical joint IDs for the spherical joint slots.

class cressim_neo.MaterialFeatureFlags#

Bases: pybind11_object

Bit flags selecting material shader options and rasterization behavior.

Members:

None : Enable no optional features.

AlphaTest : Enable alpha testing.

NormalMap : Enable normal-map shading.

ClearCoat : Currently unused by material shading.

DoubleSided : Disable back-face culling.

AlphaTest = <MaterialFeatureFlags.AlphaTest: 1>#

ClearCoat = <MaterialFeatureFlags.ClearCoat: 4>#

DoubleSided = <MaterialFeatureFlags.DoubleSided: 8>#

None = <MaterialFeatureFlags.None: 0>#

NormalMap = <MaterialFeatureFlags.NormalMap: 2>#

MaterialFeatureFlags.name -> str

property value#

class cressim_neo.MaterialHandle#

Bases: pybind11_object

Handle identifying a registered material resource.

property id#: Resource identifier.

class cressim_neo.MaterialPipelineDesc#

Bases: pybind11_object

Describes the shader program and features of a material.

property alpha_cutoff#: Alpha threshold used by alpha-test shading.

property feature_flags#: Material shader options and rasterization behavior.

property program_family#: Material shader program family.

class cressim_neo.MaterialProgramFamily#

Bases: pybind11_object

Selects the material shader program family.

Members:

StandardLit : Material program for standard mesh geometry.

SoftBodyLit : Material program for soft-body render geometry.

CurveLit : Material program for curve render geometry.

CurveLit = <MaterialProgramFamily.CurveLit: 2>#

SoftBodyLit = <MaterialProgramFamily.SoftBodyLit: 1>#

StandardLit = <MaterialProgramFamily.StandardLit: 0>#

MaterialProgramFamily.name -> str

property value#

class cressim_neo.MaterialRenderMode#

Bases: pybind11_object

Selects the render pass and alpha behavior of a material.

Members:

Opaque : Render in the opaque pass.

Cutout : Render with alpha testing enabled.

Transparent : Render in the transparent pass.

Cutout = <MaterialRenderMode.Cutout: 1>#

Opaque = <MaterialRenderMode.Opaque: 0>#

Transparent = <MaterialRenderMode.Transparent: 2>#

MaterialRenderMode.name -> str

property value#

class cressim_neo.MaterialResourceDesc#

Bases: pybind11_object

Describes a material resource to register.

property ao_texture#: Ambient-occlusion texture handle.

property base_color#: Base color factor.

property base_color_texture#: Base-color texture handle.

property casts_shadows#: Whether the material casts shadows.

property debug_name#: Debug name for the material.

property emissive_factor#: Emissive color factor.

property emissive_texture#: Emissive texture handle.

property metallic#: Metallic factor.

property metallic_roughness_texture#: Metallic-roughness texture handle.

property normal_texture#: Normal-map texture handle. Registration enables the NormalMap feature when its identifier is not invalid.

property opacity#: Base-color alpha factor.

property pipeline#: Material pipeline description.

property receives_shadows#: Whether the material receives shadows.

property render_mode#: Material render mode. Registration enables AlphaTest exactly for Cutout materials.

property render_order#: Orders materials only within the same render mode; lower values draw earlier.

property roughness#: Roughness factor.

class cressim_neo.MeshHandle#

Bases: pybind11_object

Handle identifying a registered mesh resource.

property id#: Resource identifier.

class cressim_neo.MeshRendererComponent#

Bases: pybind11_object

Mesh renderer component binding a 3D mesh and material for visual rendering.

property material#: Handle to the visual material resource.

property mesh#: Handle to the geometry mesh resource.

property segmentation_id#: ID for semantic image segmentation passes.

property visible#: Visibility flag for camera rendering.

class cressim_neo.MeshResourceDesc#

Bases: pybind11_object

Describes mesh data to register.

property debug_name#: Debug name for the mesh.

property indices#: Triangle index buffer.

property vertices#: Mesh vertices. Registration normalizes normals and generates or repairs tangents.

class cressim_neo.MeshVertex#

Bases: pybind11_object

Vertex data for a mesh resource.

property normal#: Vertex normal.

property position#: Vertex position.

property tangent#: Tangent vector with handedness in its w component.

property tex_coord_u#: U texture coordinate.

property tex_coord_v#: V texture coordinate.

class cressim_neo.MeshfreeSoftBodyComponent#

Bases: pybind11_object

Meshfree / particle-based soft body component for point cloud elastic simulation.

property collision_layer#: Collision layer.

property collision_mask#: Collision mask.

property compliance#: Constraint compliance parameter.

property material#: Material property descriptor.

property neighbour_count#: Particle neighbor interaction count.

property particle_mass#: Mass per particle.

property particle_radius#: Particle radius.

property particles#: Particle rest position list.

property self_collision_enabled#: Enable self-collision.

property static_particle_indices#: Particle indices fixed in space.

property surface_normals#: Surface mesh normal vectors.

property surface_rest_positions#: Surface mesh rest position coordinates.

property surface_triangles#: Surface mesh triangle indices.

class cressim_neo.ParticleContactMaterialDesc#

Bases: pybind11_object

Contact material parameters for particles.

property damping#: Contact damping coefficient.

property friction#: Dynamic friction coefficient.

property restitution#: Restitution coefficient.

property static_friction#: Static friction coefficient; a negative value uses friction when the material is normalized.

class cressim_neo.ParticleKind#

Bases: pybind11_object

Simulation category assigned to a particle.

Members:

SoftSolid : Soft-body, strand, or rigid-proxy particle.

Fluid : Fluid particle.

Fluid = <ParticleKind.Fluid: 1>#

SoftSolid = <ParticleKind.SoftSolid: 0>#

ParticleKind.name -> str

property value#

class cressim_neo.ParticleLayoutMapping#

Bases: pybind11_object

Prepared host-side slot layout for particles and deformable entities.

property adjacency_counts#: Adjacent-particle counts by prepared particle slot.

property adjacency_offsets#: Offsets into the internal flattened particle adjacency list.

property collision_layers#: Collision layers by prepared particle slot.

property collision_masks#: Collision masks by prepared particle slot.

property environment_indices#: Environment indices by prepared particle slot.

property fluid_count#: Number of prepared fluid slots.

property fluid_entity_ids#: Entity IDs for the prepared fluid slots.

property fluid_environment_indices#: Environment indices for the prepared fluid slots.

property fluid_material_indices#: Fluid material indices by prepared particle slot.

property fluid_particle_counts#: Particle counts for the prepared fluid slots.

property fluid_particle_offsets#: First prepared particle slot for each fluid.

property layout_revision#: Prepared particle/deformable slot-layout invalidation key produced by Runtime.prepare().

property owner_indices#: Owner slots, interpreted according to owner_types.

property owner_types#: Numeric ParticleOwnerType values by prepared particle slot.

property owning_soft_body_indices#: Owning soft-body slots by prepared particle slot.

property particle_count#: Number of prepared particle slots.

property particle_kinds#: Numeric ParticleKind values by prepared particle slot.

property particle_material_indices#: Contact material indices by prepared particle slot.

property phases#: Packed particle phase values by prepared particle slot.

property soft_body_count#: Number of prepared soft-body slots.

property soft_body_entity_ids#: Entity IDs for the prepared soft-body slots.

property soft_body_environment_indices#: Environment indices for the prepared soft-body slots.

property soft_body_particle_counts#: Particle counts for the prepared soft-body slots.

property soft_body_particle_offsets#: First prepared particle slot for each soft body.

property strand_count#: Number of prepared strand slots.

property strand_entity_ids#: Entity IDs for the prepared strand slots.

property strand_environment_indices#: Environment indices for the prepared strand slots.

property strand_ids#: Strand or suturing group IDs by prepared particle slot.

property strand_orders#: Particle order within its strand or suturing group.

property strand_particle_counts#: Particle counts for the prepared strand slots.

property strand_particle_offsets#: First prepared particle slot for each strand.

property strand_roles#: Numeric ParticleStrandRole values by prepared particle slot.

class cressim_neo.ParticleOwnerType#

Bases: pybind11_object

Owning simulation object assigned to a particle.

Members:

None : No particle owner.

SoftBody : Soft-body particle owner.

FluidBody : Fluid-body particle owner.

Strand : Strand particle owner.

RigidBody : Rigid-body proxy-particle owner.

FluidBody = <ParticleOwnerType.FluidBody: 2>#

None = <ParticleOwnerType.None: 0>#

RigidBody = <ParticleOwnerType.RigidBody: 4>#

SoftBody = <ParticleOwnerType.SoftBody: 1>#

Strand = <ParticleOwnerType.Strand: 3>#

ParticleOwnerType.name -> str

property value#

class cressim_neo.ParticleStrandRole#

Bases: pybind11_object

Suturing roles assigned to particles.

Members:

None : No suturing role.

NeedleTip : Tip particle of a suturing sequence.

NeedleBody : Non-tip needle particle of a suturing sequence.

Thread : Thread particle of a suturing sequence.

NeedleBody = <ParticleStrandRole.NeedleBody: 2>#

NeedleTip = <ParticleStrandRole.NeedleTip: 1>#

None = <ParticleStrandRole.None: 0>#

Thread = <ParticleStrandRole.Thread: 3>#

ParticleStrandRole.name -> str

property value#

class cressim_neo.Path(*args, **kwargs)#

Bases: PurePath

PurePath subclass that can make system calls.

Path represents a filesystem path but unlike PurePath, also offers methods to do system calls on path objects. Depending on your system, instantiating a Path will return either a PosixPath or a WindowsPath object. You can also instantiate a PosixPath or WindowsPath directly, but cannot instantiate a WindowsPath on a POSIX system or vice versa.

absolute()#

Return an absolute version of this path by prepending the current working directory. No normalization or symlink resolution is performed.

Use resolve() to get the canonical path to a file.

chmod(mode, *, follow_symlinks=True)#: Change the permissions of the path, like os.chmod().

classmethod cwd()#: Return a new path pointing to the current working directory.

exists(*, follow_symlinks=True)#

Whether this path exists.

This method normally follows symlinks; to check whether a symlink exists, add the argument follow_symlinks=False.

expanduser()#: Return a new path with expanded ~ and ~user constructs (as returned by os.path.expanduser)

glob(pattern, *, case_sensitive=None)#: Iterate over this subtree and yield all existing files (of any kind, including directories) matching the given relative pattern.

group()#: Return the group name of the file gid.

hardlink_to(target)#

Make this path a hard link pointing to the same file as target.

Note the order of arguments (self, target) is the reverse of os.link’s.

classmethod home()#: Return a new path pointing to the user’s home directory (as returned by os.path.expanduser(‘~’)).

is_block_device()#: Whether this path is a block device.

is_char_device()#: Whether this path is a character device.

is_dir()#: Whether this path is a directory.

is_fifo()#: Whether this path is a FIFO.

is_file()#: Whether this path is a regular file (also True for symlinks pointing to regular files).

is_junction()#: Whether this path is a junction.

is_mount()#: Check if this path is a mount point

is_socket()#: Whether this path is a socket.

is_symlink()#: Whether this path is a symbolic link.

iterdir()#

Yield path objects of the directory contents.

The children are yielded in arbitrary order, and the special entries ‘.’ and ‘..’ are not included.

lchmod(mode)#: Like chmod(), except if the path points to a symlink, the symlink’s permissions are changed, rather than its target’s.

lstat()#: Like stat(), except if the path points to a symlink, the symlink’s status information is returned, rather than its target’s.

mkdir(mode=511, parents=False, exist_ok=False)#: Create a new directory at this given path.

open(mode='r', buffering=-1, encoding=None, errors=None, newline=None)#: Open the file pointed to by this path and return a file object, as the built-in open() function does.

owner()#: Return the login name of the file owner.

read_bytes()#: Open the file in bytes mode, read it, and close the file.

read_text(encoding=None, errors=None)#: Open the file in text mode, read it, and close the file.

readlink()#: Return the path to which the symbolic link points.

rename(target)#

Rename this path to the target path.

The target path may be absolute or relative. Relative paths are interpreted relative to the current working directory, not the directory of the Path object.

Returns the new Path instance pointing to the target path.

replace(target)#

Rename this path to the target path, overwriting if that path exists.

The target path may be absolute or relative. Relative paths are interpreted relative to the current working directory, not the directory of the Path object.

Returns the new Path instance pointing to the target path.

resolve(strict=False)#: Make the path absolute, resolving all symlinks on the way and also normalizing it.

rglob(pattern, *, case_sensitive=None)#: Recursively yield all existing files (of any kind, including directories) matching the given relative pattern, anywhere in this subtree.

rmdir()#: Remove this directory. The directory must be empty.

samefile(other_path)#: Return whether other_path is the same or not as this file (as returned by os.path.samefile()).

stat(*, follow_symlinks=True)#: Return the result of the stat() system call on this path, like os.stat() does.

symlink_to(target, target_is_directory=False)#: Make this path a symlink pointing to the target path. Note the order of arguments (link, target) is the reverse of os.symlink.

touch(mode=438, exist_ok=True)#: Create this file with the given access mode, if it doesn’t exist.

unlink(missing_ok=False)#: Remove this file or link. If the path is a directory, use rmdir() instead.

walk(top_down=True, on_error=None, follow_symlinks=False)#: Walk the directory tree from this directory, similar to os.walk().

write_bytes(data)#: Open the file in bytes mode, write to it, and close the file.

write_text(data, encoding=None, errors=None, newline=None)#: Open the file in text mode, write to it, and close the file.

class cressim_neo.PhysicsSolverDesc#

Bases: pybind11_object

Configuration for the GPU physics solver.

property default_iterations#: Fallback position-solver iteration count; values below one are clamped to one.

property enable_blocking_readback#: Whether each physics step blocks to read simulated rigid and particle state back to the CPU.

property fluid_iterations#: Fluid-solver iteration count; zero uses default_iterations.

property gravity#: Gravity acceleration applied to rigid and particle simulation.

property rigid_joint_iterations#: Rigid-joint iteration count; zero uses default_iterations.

property rigid_rigid_contact_iterations#: Rigid-contact iteration count; zero uses default_iterations.

property soft_contact_iterations#: Soft-contact iteration count; zero uses default_iterations.

property soft_internal_iterations#: Soft-body internal-constraint iteration count; zero uses default_iterations.

property substeps#: Physics substeps per frame; values below one are clamped to one.

class cressim_neo.PointLightComponent#

Bases: pybind11_object

Point light source emitting light uniformly in all directions.

property casts_shadows#: Enable shadow map generation.

property color#: Light color RGB values.

property intensity#: Illumination intensity multiplier.

property range#: Attenuation distance range.

property shadow_bias#: Shadow depth bias.

class cressim_neo.ProceduralDeformableCurveRenderComponent#

Bases: pybind11_object

Procedural render component for generating tube meshes along deformable curves (strands/sutures).

property enabled#: Enable rendering.

property radial_resolution#: Number of radial tube segments.

property radius#: Tube mesh cross-section radius.

property sequence_id#: Target particle sequence ID.

class cressim_neo.Quaternion#

Bases: pybind11_object

Single-precision quaternion used for 3D rotations.

property w#: W component.

property x#: X component.

property y#: Y component.

property z#: Z component.

class cressim_neo.RenderOutputBinding#

Bases: pybind11_object

Destination selection for rendered output.

property binding#: Explicit target binding used when mode is ExplicitSurface.

property mode#: Output destination selection mode.

class cressim_neo.RenderOutputMode#

Bases: pybind11_object

Destination selection mode for rendered output.

Members:

ManagedPrimary : Use the runtime-managed primary output.

ExplicitSurface : Use the explicitly specified render-target binding.

ExplicitSurface = <RenderOutputMode.ExplicitSurface: 1>#

ManagedPrimary = <RenderOutputMode.ManagedPrimary: 0>#

RenderOutputMode.name -> str

property value#

class cressim_neo.RenderResourceManager#

Bases: pybind11_object

Registry of mesh, material, and texture resources.

is_valid_material(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MaterialHandle) → bool#: Returns whether a material handle identifies a registered material.

is_valid_mesh(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MeshHandle) → bool#: Returns whether a mesh handle identifies a registered mesh.

is_valid_texture(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.TextureHandle) → bool#: Returns whether a texture handle identifies a registered texture.

mesh_version(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MeshHandle) → int#: Returns the mesh version, or 0 for an invalid handle.

register_material(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MaterialResourceDesc) → cressim_neo._cressim_neo.MaterialHandle#: Registers a material and returns its handle. Registration copies and normalizes the material feature flags.

register_mesh(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MeshResourceDesc) → cressim_neo._cressim_neo.MeshHandle#: Registers a mesh and returns its handle. Registration copies the description, normalizes normals, generates or repairs tangents, and computes local bounds.

register_texture(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.TextureResourceDesc) → cressim_neo._cressim_neo.TextureHandle#: Registers a texture and returns its handle. Registration copies the description, clamps dimensions and mip count to at least one, and expands convenience pixel data.

try_get_material(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MaterialHandle) → object#: Returns a copy of a registered material description, or None for an invalid handle.

try_get_mesh(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MeshHandle) → object#: Returns a copy of a registered mesh description, or None for an invalid handle.

try_get_mesh_local_bounds(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.MeshHandle) → object#: Returns (minimum, maximum) local bounds for a non-empty registered mesh, or None.

try_get_texture(self: cressim_neo._cressim_neo.RenderResourceManager, arg0: cressim_neo._cressim_neo.TextureHandle) → object#: Returns a copy of a registered texture description, or None for an invalid handle.

class cressim_neo.RenderStats#

Bases: pybind11_object

Framework-level counters produced by a render frame, not GPU timestamps.

property draw_calls#: Total opaque, transparent, and shadow draw calls.

property light_count#: Active directional-light count observed for the frame.

property opaque_draw_calls#: Opaque-pass draw call count.

property render_target_recreate_count#: Number of render targets recreated for resize requests.

property render_target_resize_conflicts#: Number of conflicting resize requests for a shared render target.

property render_target_resize_no_ops#: Number of resize requests requiring no render-target recreation.

property render_target_resize_requests#: Number of camera output resize requests processed for the frame.

property renderable_count#: Active renderable count observed for the frame.

property rendered_camera_count#: Number of camera outputs rendered for the frame.

property shadow_draw_calls#: Shadow-pass draw call count.

property transparent_draw_calls#: Transparent-pass draw call count.

class cressim_neo.RendererDesc#

Bases: pybind11_object

Configuration for the graphics renderer.

property ibl_quality_tier#: Image-based-lighting quality tier.

class cressim_neo.RigidBodyComponent#

Bases: pybind11_object

Rigid body component defining linear/angular velocity, mass properties, and kinematic targets.

property angular_velocity#: Angular velocity vector.

property body_type#: Rigid body type (Dynamic, Static, Kinematic).

property inverse_inertia_local#: Local inverse inertia tensor diagonal.

property inverse_mass#: Inverse mass (1/kg).

property kinematic_target_enabled#: Enable kinematic target positioning.

property kinematic_target_position#: Kinematic target position for interpolation.

property kinematic_target_rotation#: Kinematic target orientation quaternion.

property linear_velocity#: Linear velocity vector.

property needle_tip_proxy_index#: Proxy particle index representing needle tip.

property proxy_collision_layer#: Bitmask collision layer for proxy particles.

property proxy_collision_mask#: Bitmask collision mask for proxy particles.

property proxy_particle_local_positions#: Local positions of proxy particles.

property proxy_particle_material#: Proxy particle contact material properties.

property proxy_particle_radius#: Radius of proxy collision particles.

property suturing_enabled#: Enable surgical suturing needle proxy interactions.

class cressim_neo.RigidBodyType#

Bases: pybind11_object

Rigid body simulation types.

Members:

Static : Static rigid body.

Kinematic : Kinematic rigid body.

Dynamic : Dynamically simulated rigid body.

Dynamic = <RigidBodyType.Dynamic: 2>#

Kinematic = <RigidBodyType.Kinematic: 1>#

Static = <RigidBodyType.Static: 0>#

RigidBodyType.name -> str

property value#

class cressim_neo.RigidDistanceConstraintLayoutMapping#

Bases: pybind11_object

Prepared host-side layout for rigid distance constraints.

property constraint_ids#: Constraint IDs for the rigid distance constraint slots.

property count#: Number of rigid distance constraint slots.

property enabled#: Whether each rigid distance constraint is enabled, as 0 or 1.

property environment_indices#: Environment indices of endpoint A’s referenced rigid bodies.

property rigid_body_ids_a#: Rigid-body IDs for endpoint A.

property rigid_body_ids_b#: Rigid-body IDs for endpoint B.

property rigid_body_indices_a#: Prepared rigid-body slots for endpoint A.

property rigid_body_indices_b#: Prepared rigid-body slots for endpoint B.

class cressim_neo.RigidJointDriveMode#

Bases: pybind11_object

Rigid-joint drive control modes; availability depends on joint type.

Members:

None : Disable joint drive control.

TargetPosition : Position-drive mode for hinge and slider joints.

TargetVelocity : Velocity-drive mode for hinge and slider joints.

TargetOrientation : Orientation-drive mode for spherical joints.

None = <RigidJointDriveMode.None: 0>#

TargetOrientation = <RigidJointDriveMode.TargetOrientation: 3>#

TargetPosition = <RigidJointDriveMode.TargetPosition: 1>#

TargetVelocity = <RigidJointDriveMode.TargetVelocity: 2>#

RigidJointDriveMode.name -> str

property value#

class cressim_neo.RigidLayoutMapping#

Bases: pybind11_object

Prepared host-side slot layout for rigid bodies and colliders.

property body_collider_counts#: Collider counts per rigid-body slot.

property body_collider_indices#: Flattened collider slots, grouped by owning rigid-body slot.

property body_collider_offsets#: Offsets into body_collider_indices, indexed by rigid-body slot.

property collider_collision_layers#: Collider collision-layer bitmasks, indexed by collider slot.

property collider_collision_masks#: Collider collision-filter bitmasks, indexed by collider slot.

property collider_count#: Number of collider slots in the prepared layout.

property collider_enabled#: Collider enabled flags, indexed by collider slot.

property collider_entity_ids#: Entity IDs owning the colliders, indexed by collider slot.

property collider_environment_indices#: Environment indices of colliders, indexed by collider slot.

property collider_ids#: Physics collider IDs, indexed by collider slot.

property collider_local_positions#: Collider local positions, indexed by collider slot.

property collider_local_rotations#: Collider local rotations, indexed by collider slot.

property collider_owner_body_ids#: Physics IDs of collider owner bodies, indexed by collider slot.

property collider_owner_body_indices#: Rigid-body slots owning colliders, indexed by collider slot.

property collider_shape_params#: Collider shape parameters, indexed by collider slot.

property collider_shape_types#: Encoded collider shape types, indexed by collider slot.

property layout_revision#: Prepared rigid/collider slot-layout invalidation key produced by Runtime.prepare().

property rigid_body_count#: Number of rigid-body slots in the prepared layout.

property rigid_body_entity_ids#: Entity IDs owning the rigid bodies, indexed by rigid-body slot.

property rigid_body_environment_indices#: Environment indices of rigid bodies, indexed by rigid-body slot.

property rigid_body_ids#: Physics rigid-body IDs, indexed by rigid-body slot.

class cressim_neo.RigidParticleAttachmentConstraintLayoutMapping#

Bases: pybind11_object

Prepared host-side layout for rigid-particle attachment constraints.

property constraint_ids#: Prepared host-side constraint IDs for attachment slots. Runtime GPU edits to live attachment descriptors do not update this array until reauthoring and preparing again.

property count#: Number of rigid-particle attachment constraint slots.

property enabled#: Whether each attachment constraint is enabled, as 0 or 1.

property environment_indices#: Environment indices of the referenced rigid bodies.

property particle_entity_ids#: Entity IDs that own the referenced particles.

property particle_local_indices#: Particle indices local to their owning entities.

property particle_reference_types#: Numeric AuthoredParticleReferenceType values for the referenced particles.

property rigid_body_ids#: Rigid-body IDs referenced by the attachment constraints.

property rigid_body_indices#: Prepared rigid-body slots referenced by the attachment constraints.

class cressim_neo.RoutedCableConstraintLayoutMapping#

Bases: pybind11_object

Prepared host-side layout for routed cable constraints and their route points.

property constraint_ids#: Constraint IDs for the routed cable constraint slots.

property count#: Number of routed cable constraint slots.

property enabled#: Whether each routed cable constraint is enabled, as 0 or 1.

property environment_indices#: Environment indices resolved from each cable’s first valid route point.

property route_point_counts#: Route-point counts for each cable.

property route_point_local_guide_offsets#: Local guide offsets for flattened route points.

property route_point_offsets#: Offsets into the flattened route-point arrays for each cable.

property route_point_rigid_body_ids#: Rigid-body IDs for flattened route points.

property route_point_rigid_body_indices#: Prepared rigid-body slots for flattened route points.

class cressim_neo.Runtime#

Bases: pybind11_object

Main engine runtime coordinator managing GPU devices, physics solvers, graphics, and custom compute passes.

compute_ultrasound_probe_layout(self: cressim_neo._cressim_neo.Runtime, probe: cressim_neo._cressim_neo.UltrasoundProbeComponent, renderer: cressim_neo._cressim_neo.UltrasoundRendererComponent) → cressim_neo._cressim_neo.UltrasoundProbeLayout#: Computes an ultrasound output layout for probe and renderer components. Raises RuntimeError when layout computation fails.

create_custom_compute_pass(self: cressim_neo._cressim_neo.Runtime, desc: cressim_neo._cressim_neo.CustomComputePassDesc) → cressim_neo._cressim_neo.CustomComputePassHandle#: Compiles and registers a custom compute pass for the uploaded world. Returns an invalid handle if creation fails.

create_render_target(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.GpuRenderTargetDesc) → cressim_neo._cressim_neo.GpuRenderTargetHandle#: Creates a GPU render target. Raises RuntimeError when the GPU device is unavailable.

create_shared_buffer(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferDesc) → cressim_neo._cressim_neo.SharedBufferHandle#: Creates an engine-owned shared GPU buffer. Returns an invalid handle when unavailable.

destroy_custom_compute_pass(self: cressim_neo._cressim_neo.Runtime, handle: cressim_neo._cressim_neo.CustomComputePassHandle) → bool#: Destroys a registered custom compute pass. Returns True if the handle was registered.

destroy_shared_buffer(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferHandle) → bool#: Destroys a shared-buffer handle. Exported DLPack tensors may retain its storage.

end_frame(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.FrameContext) → None#: Ends the active GPU frame, if one exists.

execute_custom_compute_pass(self: cressim_neo._cressim_neo.Runtime, handle: cressim_neo._cressim_neo.CustomComputePassHandle) → bool#: Executes a registered custom compute pass for the uploaded world. Returns False if the pass or its required resources are unavailable or changed.

get_info(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.RuntimeInfo#: Returns engine version and optional feature support information.

get_prepared_constraint_layout_mapping(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.ConstraintLayoutMapping#: Returns the prepared rigid-adjacent constraint layout mapping. Raises RuntimeError when unavailable.

get_prepared_joint_layout_mapping(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.JointLayoutMapping#: Returns the prepared ball, hinge, spherical, and slider joint layout mapping. Raises RuntimeError when unavailable.

get_prepared_particle_layout_mapping(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.ParticleLayoutMapping#: Returns the prepared particle and deformable layout mapping. Raises RuntimeError when unavailable.

get_prepared_rigid_layout_mapping(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.RigidLayoutMapping#: Returns the prepared rigid-body and collider layout mapping. Raises RuntimeError when unavailable.

initialize(config=None)#

is_valid_render_target(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.GpuRenderTargetHandle) → bool#: Returns whether a GPU render-target handle is valid.

last_render_stats(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.RenderStats#: Returns statistics from the most recent visual-sensor render.

list_custom_compute_resources(self: cressim_neo._cressim_neo.Runtime) → list[cressim_neo._cressim_neo.CustomComputeResourceDesc]#: Lists custom compute resources registered for the uploaded world. Returns an empty list when unavailable.

list_shared_buffers(self: cressim_neo._cressim_neo.Runtime) → list[cressim_neo._cressim_neo.SharedBufferInfo]#: Returns metadata for all registered shared buffers, or an empty list when unavailable.

prepare(self: cressim_neo._cressim_neo.Runtime) → None#: Prepares authored world, render, and ultrasound state for upload. Does nothing before initialization.

request_render_target_readback(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.GpuRenderTargetBinding) → cressim_neo._cressim_neo.GpuRenderTargetReadbackRequest#: Queues deferred readback of a render-target binding. Returns an invalid request when the target is unknown or the binding does not select exactly one layer. Raises RuntimeError when the GPU device is unavailable.

resources(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.RenderResourceManager#: Returns the runtime-owned render resource manager.

set_gravity(self: cressim_neo._cressim_neo.Runtime, gravity: cressim_neo._cressim_neo.Float3) → None#: Sets the physics solver gravity when the runtime is initialized.

shared_buffer_to_dlpack(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferHandle, arg1: cressim_neo._cressim_neo.SharedBufferTensorDesc) → object#: Exports a CUDA-imported shared-buffer view as a DLPack capsule. Raises RuntimeError for an unavailable view or invalid tensor descriptor.

shutdown(self: cressim_neo._cressim_neo.Runtime) → None#: Shuts down the engine runtime and releases allocated GPU/physics resources.

step_physics(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.FrameContext) → bool#: Advances physics for a frame after world upload. Returns False before initialization or when the step fails.

step_simulation_sensors(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.FrameContext) → bool#: Updates GPU scene state and advances simulation sensors for a frame. Returns False before initialization or when ultrasound processing fails.

step_visual_sensors(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.FrameContext) → None#: Updates GPU scene state and renders visual sensors for a frame; does nothing before initialization.

sync_shared_buffer_from_cuda(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferHandle) → bool#: Makes prior CUDA work visible to subsequent Vulkan or D3D compute work.

sync_shared_buffer_to_cuda(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferHandle) → bool#: Makes prior Vulkan or D3D compute writes visible to subsequent CUDA work.

try_get_render_target_readback(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.GpuRenderTargetReadbackRequest) → object#: Returns and consumes a completed render-target readback event. Returns None for an invalid, unknown, already-consumed, or incomplete request.

try_get_shared_buffer_cuda_view(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferHandle) → object#: Returns the CUDA device view for a shared buffer, or None when unavailable.

try_get_shared_buffer_info(self: cressim_neo._cressim_neo.Runtime, arg0: cressim_neo._cressim_neo.SharedBufferHandle) → object#: Returns metadata for a shared buffer, or None when the handle is unavailable.

update_custom_compute_pass_constants(self: cressim_neo._cressim_neo.Runtime, handle: cressim_neo._cressim_neo.CustomComputePassHandle, data: bytes) → bool#: Updates a custom compute pass’s constant-buffer data. Returns False for an invalid handle, a pass without constants, or an oversized payload.

upload_world(self: cressim_neo._cressim_neo.Runtime) → bool#: Uploads prepared world state to physics and GPU resources. Returns False before initialization or when an upload fails.

world(self: cressim_neo._cressim_neo.Runtime) → cressim_neo._cressim_neo.World#: Returns the runtime-owned world.

class cressim_neo.RuntimeConfig#

Bases: pybind11_object

Configuration descriptor for initializing the CRESSim-Neo engine runtime.

property gpu_device_desc#: Desired GPU device configuration.

property physics_desc#: Physics solver parameters.

property renderer_desc#: Graphics renderer parameters.

property scene_layout#: Scene layout capacity settings.

class cressim_neo.RuntimeInfo#

Bases: pybind11_object

Information structure holding engine version and optional feature support flags.

property cuda_interop_supported#: True if CUDA interop is enabled and available.

property engine_version#: Full semver engine version string.

property engine_version_major#: Major version number.

property engine_version_minor#: Minor version number.

property engine_version_patch#: Patch version number.

property ultrasound_supported#: True if CRESSim-Ultrasound integration is available.

class cressim_neo.SceneLayoutDesc#

Bases: pybind11_object

Capacity configuration for the environments, renderable objects, lights, and cameras in a scene.

property env_count#: Number of simulation and rendering environments.

property max_cameras_per_env#: Maximum number of cameras in each environment.

property max_lights_per_env#: Maximum number of lights in each environment.

property max_renderable_objects_per_env#: Maximum number of renderable objects in each environment.

total_camera_capacity(self: cressim_neo._cressim_neo.SceneLayoutDesc) → int#: Returns the total camera capacity across all environments.

total_light_capacity(self: cressim_neo._cressim_neo.SceneLayoutDesc) → int#: Returns the total light capacity across all environments.

total_renderable_object_capacity(self: cressim_neo._cressim_neo.SceneLayoutDesc) → int#: Returns the total renderable-object capacity across all environments.

class cressim_neo.SharedBufferAccess#

Bases: pybind11_object

Declared custom-compute access policy for shared GPU buffers.

Members:

ReadOnly : Allows read-only custom-compute bindings.

WriteOnly : Allows write-only custom-compute bindings.

ReadWrite : Allows read/write custom-compute bindings.

ReadOnly = <SharedBufferAccess.ReadOnly: 0>#

ReadWrite = <SharedBufferAccess.ReadWrite: 2>#

WriteOnly = <SharedBufferAccess.WriteOnly: 1>#

SharedBufferAccess.name -> str

property value#

class cressim_neo.SharedBufferBindFlags#

Bases: pybind11_object

Binding usage flags for shared GPU buffers.

Members:

None : No binding flags specified.

ShaderResource : Bindable as a Shader Resource View (SRV).

UnorderedAccess : Bindable as an Unordered Access View (UAV).

None = <SharedBufferBindFlags.None: 0>#

ShaderResource = <SharedBufferBindFlags.ShaderResource: 1>#

UnorderedAccess = <SharedBufferBindFlags.UnorderedAccess: 2>#

SharedBufferBindFlags.name -> str

property value#

class cressim_neo.SharedBufferCudaView#

Bases: pybind11_object

View descriptor exposing CUDA device memory pointer and size for interop.

property device_ordinal#: CUDA device ordinal index.

property device_pointer#: Raw CUDA device pointer. Exposed to Python as an integer address.

is_valid(self: cressim_neo._cressim_neo.SharedBufferCudaView) → bool#: Checks if the CUDA device view is valid.

property size_bytes#: Size of accessible device memory in bytes.

class cressim_neo.SharedBufferDesc#

Bases: pybind11_object

Descriptor for creating an engine-owned shared GPU buffer.

property access#: Custom-compute access policy; bind_flags control GPU views.

property bind_flags#: GPU binding usage flags.

property debug_name#: Debug label for GPU diagnostic tools.

property element_count#: Initial element count.

property element_stride_bytes#: Stride per element in bytes.

property minimum_capacity#: Minimum allocation capacity.

class cressim_neo.SharedBufferHandle#

Bases: pybind11_object

Handle wrapper identifying an engine-owned shared GPU buffer.

property id#: Unique handle identifier.

is_valid(self: cressim_neo._cressim_neo.SharedBufferHandle) → bool#: Checks if the shared buffer handle is valid.

class cressim_neo.SharedBufferInfo#

Bases: pybind11_object

Detailed information and runtime state for a shared GPU buffer.

property access#: Declared custom-compute access policy.

property bind_flags#: Binding flags.

property capacity#: Total element capacity.

property debug_name#: Debug label.

property element_count#: Current element count.

property element_stride_bytes#: Element stride in bytes.

property exportable#: True if buffer is exportable for CUDA/DLPack interop.

property handle#: Buffer handle.

property imported_into_cuda#: True if buffer is currently imported into CUDA.

property size_bytes#: Total allocated size in bytes.

class cressim_neo.SharedBufferTensorDTypeCode#

Bases: pybind11_object

DLPack tensor data type codes for shared buffer tensor view export.

Members:

Int : Signed integer.

UInt : Unsigned integer.

Float : Floating point.

Bool : Boolean.

Bool = <SharedBufferTensorDTypeCode.Bool: 3>#

Float = <SharedBufferTensorDTypeCode.Float: 2>#

Int = <SharedBufferTensorDTypeCode.Int: 0>#

UInt = <SharedBufferTensorDTypeCode.UInt: 1>#

SharedBufferTensorDTypeCode.name -> str

property value#

class cressim_neo.SharedBufferTensorDesc#

Bases: pybind11_object

Tensor metadata descriptor for exporting a shared buffer to DLPack / PyTorch.

property byte_offset#: Byte offset from buffer start.

property dtype_bits#: Element bit width (e.g. 32 for float32).

property dtype_code#: Element data type code.

property dtype_lanes#: Vector lanes count per element.

property shape#: Tensor dimensions shape array.

property strides#: Tensor strides array.

class cressim_neo.SliderJointState#

Bases: pybind11_object

State for a slider joint between two rigid bodies.

property body_a#: First connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property body_b#: Second connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property constraint_compliance#: Slider constraint compliance.

property drive_compliance#: Slider drive compliance.

property drive_damping#: Damping applied by the slider drive.

property drive_max_velocity#: Maximum velocity applied by the slider drive.

property drive_mode#: Slider drive control mode.

property drive_target_position#: Target position for position drive control.

property drive_target_velocity#: Target velocity for velocity drive control.

property enabled#: Enable this joint.

property joint_id#: Joint identifier; an invalid ID creates a joint on upsert.

property limit_enabled#: Enable slider position limits.

property limit_max#: Maximum slider position limit.

property limit_min#: Minimum slider position limit.

property local_anchor_a#: Joint anchor in body A local coordinates.

property local_anchor_b#: Joint anchor in body B local coordinates.

property local_rotation_a#: Joint frame orientation in body A local coordinates.

property local_rotation_b#: Joint frame orientation in body B local coordinates.

property suppress_connected_body_collisions#: Suppress collisions between the connected bodies.

class cressim_neo.SoftBodyAuthoringParticles#

Bases: pybind11_object

Authoring particle position container for soft body asset creation.

property particle_count#: Total particle count.

property rest_positions#: Rest position coordinate array.

class cressim_neo.SoftBodyComponent#

Bases: pybind11_object

Soft body component supporting tetrahedral and meshfree particle sources.

property collision_layer#: Collision bitmask layer.

property collision_mask#: Collision bitmask filter.

property edge_compliance#: Extended Position Based Dynamics (XPBD) edge constraint compliance.

property material#: Particle contact material parameters.

property particle_mass#: Mass per node particle.

property particle_radius#: Collision radius per particle.

property self_collision_enabled#: Enable internal self-collision handling.

property source#: Source mesh file or tetrahedral asset descriptor.

property supports_suturing#: Enable surgical thread suturing insertion.

property volume_compliance#: XPBD volume conservation constraint compliance.

class cressim_neo.SoftBodyMaterialDesc#

Bases: pybind11_object

Material parameters for a soft body.

property contact#: Particle contact material parameters.

class cressim_neo.SoftBodyMeshfreeParticleSource#

Bases: pybind11_object

Particle source data for a meshfree soft body.

property neighbour_count#: Number of nearest neighbours used to build the particle graph.

property particle_rest_positions#: Rest positions of the simulated particles.

property static_particle_indices#: Particle indices to make static.

property surface_normals#: Rest normals of the render surface vertices.

property surface_rest_positions#: Rest positions of the render surface vertices.

property surface_triangles#: Triangle indices for the render surface.

class cressim_neo.SoftBodyRegularGridSource#

Bases: pybind11_object

Parameters for generating a tetrahedral soft body from a regular grid.

property size#: Grid extent in object space.

property static_particle_indices#: Generated particle indices to make static.

property target_particle_spacing#: Target distance between generated grid particles.

class cressim_neo.SoftBodySourceDesc#

Bases: pybind11_object

Selects and stores source data for a soft body.

property kind#: Selects which source-data member is used.

property meshfree_particles#: Source data used when kind is MeshfreeParticles.

property regular_grid#: Source data used when kind is RegularGrid.

property tet_gen#: Source data used when kind is TetGenFiles.

property tet_mesh#: Source data used when kind is TetMesh.

class cressim_neo.SoftBodySourceKind#

Bases: pybind11_object

Selects which member of a soft-body source description is used.

Members:

RegularGrid : Generate a tetrahedral soft body from a regular grid.

TetMesh : Use supplied rest positions and tetrahedron indices.

TetGenFiles : Load rest positions and tetrahedra from TetGen node and element files.

MeshfreeParticles : Use supplied particles and construct a k-nearest-neighbour graph.

MeshfreeParticles = <SoftBodySourceKind.MeshfreeParticles: 3>#

RegularGrid = <SoftBodySourceKind.RegularGrid: 0>#

TetGenFiles = <SoftBodySourceKind.TetGenFiles: 2>#

TetMesh = <SoftBodySourceKind.TetMesh: 1>#

SoftBodySourceKind.name -> str

property value#

class cressim_neo.SoftBodyTetGenSource#

Bases: pybind11_object

TetGen-file source data for a soft body.

property ele_file#: Path to the TetGen .ele file containing tetrahedra.

property node_file#: Path to the TetGen .node file containing rest positions.

property static_particle_indices#: Particle indices to make static.

class cressim_neo.SoftBodyTetMeshSource#

Bases: pybind11_object

Tetrahedral-mesh source data for a soft body.

property object_space_rest_positions#: Object-space rest positions of tetrahedral-mesh vertices.

property static_particle_indices#: Particle indices to make static.

property tet_vertex_indices#: Flat tetrahedron index buffer; each group of four indices defines one tetrahedron.

class cressim_neo.SphericalJointState#

Bases: pybind11_object

State for a spherical joint with optional swing, twist, and orientation-drive constraints.

property body_a#: First connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property body_b#: Second connected body ID. Use an entity ID when upserting through World; retrieved states contain a rigid-body ID.

property constraint_compliance#: Anchor constraint compliance.

property drive_compliance#: Orientation-drive compliance.

property drive_mode#: Spherical-joint drive control mode.

property drive_target_orientation#: Target orientation for orientation drive control.

property enabled#: Enable this joint.

property joint_id#: Joint identifier; an invalid ID creates a joint on upsert.

property limit_enabled#: Enable swing and twist limits.

property local_anchor_a#: Joint anchor in body A local coordinates.

property local_anchor_b#: Joint anchor in body B local coordinates.

property local_rotation_a#: Joint frame orientation in body A local coordinates.

property local_rotation_b#: Joint frame orientation in body B local coordinates.

property suppress_connected_body_collisions#: Suppress collisions between the connected bodies.

property swing_compliance#: Swing-limit constraint compliance.

property swing_limit_y#: Maximum swing limit about the joint Y axis.

property swing_limit_z#: Maximum swing limit about the joint Z axis.

property twist_compliance#: Twist-limit constraint compliance.

property twist_limit_max#: Maximum twist angle limit.

property twist_limit_min#: Minimum twist angle limit.

class cressim_neo.SpotLightComponent#

Bases: pybind11_object

Spot light source emitting a cone of light in a specified direction.

property casts_shadows#: Enable shadow map generation.

property color#: Light color RGB values.

property direction#: Spot light emission direction.

property inner_cone_angle#: Inner full-intensity cone angle (degrees).

property intensity#: Illumination intensity multiplier.

property outer_cone_angle#: Outer zero-intensity cone angle (degrees).

property range#: Attenuation distance range.

property shadow_bias#: Shadow depth bias.

class cressim_neo.StrandComponent#

Bases: pybind11_object

1D elastic strand component for surgical threads and sutures.

property bend_compliance#: Bending constraint compliance.

property collision_layer#: Collision layer.

property collision_mask#: Collision mask.

property distance_compliance#: Distance constraint compliance.

property material#: Particle contact material parameters.

property particle_mass#: Mass per strand node particle.

property particle_radius#: Collision radius per strand node.

property path_node_spacing#: Node spacing along suturing path.

property rest_positions#: Rest positions of strand particles.

property root_material_normal#: Normal vector at strand root constraint.

property self_collision_enabled#: Enable strand self-collision.

property static_particle_indices#: Fixed node particle indices.

property stretch_shear_compliance#: Stretching and shearing constraint compliance.

property suturing_enabled#: Enable suturing path tracking.

property twist_compliance#: Torsional twisting compliance.

class cressim_neo.StrandMaterialDesc#

Bases: pybind11_object

Material parameters for a strand.

property contact#: Particle contact material parameters.

class cressim_neo.TextureColorSpace#

Bases: pybind11_object

Specifies a texture color space.

Members:

Linear : Use linear color space.

Srgb : Use sRGB color space for RGBA8 textures.

Linear = <TextureColorSpace.Linear: 0>#

Srgb = <TextureColorSpace.Srgb: 1>#

TextureColorSpace.name -> str

property value#

class cressim_neo.TextureDimension#

Bases: pybind11_object

Specifies a texture dimension.

Members:

Texture2D : A two-dimensional texture with one layer.

TextureCube : A cubemap texture with six layers.

Texture2D = <TextureDimension.Texture2D: 0>#

TextureCube = <TextureDimension.TextureCube: 1>#

TextureDimension.name -> str

property value#

class cressim_neo.TextureFormat#

Bases: pybind11_object

Texture formats supported by the Python binding.

Members:

Unknown : Unspecified format; uses an API-specific default where supported.

RGBA8Unorm : Four-channel 8-bit unsigned normalized RGBA format.

RGBA8UnormSrgb : Four-channel 8-bit unsigned normalized sRGB RGBA format.

BGRA8Unorm : Four-channel 8-bit unsigned normalized BGRA format.

BGRA8UnormSrgb : Four-channel 8-bit unsigned normalized sRGB BGRA format.

RGBA16Float : Four-channel 16-bit floating-point RGBA format.

R32Float : Single-channel 32-bit floating-point format.

R32Uint : Single-channel 32-bit unsigned integer format.

D32Float : 32-bit floating-point depth format.

BGRA8Unorm = <TextureFormat.BGRA8Unorm: 87>#

BGRA8UnormSrgb = <TextureFormat.BGRA8UnormSrgb: 91>#

D32Float = <TextureFormat.D32Float: 40>#

R32Float = <TextureFormat.R32Float: 41>#

R32Uint = <TextureFormat.R32Uint: 42>#

RGBA16Float = <TextureFormat.RGBA16Float: 10>#

RGBA8Unorm = <TextureFormat.RGBA8Unorm: 28>#

RGBA8UnormSrgb = <TextureFormat.RGBA8UnormSrgb: 29>#

Unknown = <TextureFormat.Unknown: 0>#

TextureFormat.name -> str

property value#

class cressim_neo.TextureHandle#

Bases: pybind11_object

Handle identifying a registered texture resource.

property id#: Resource identifier.

class cressim_neo.TextureMipPolicy#

Bases: pybind11_object

Declares a texture asset’s mipmap generation policy.

Members:

Disabled : Declares that no additional mipmaps should be generated.

Generate : Currently unused; supplied subresource payloads are uploaded unchanged.

Disabled = <TextureMipPolicy.Disabled: 0>#

Generate = <TextureMipPolicy.Generate: 1>#

TextureMipPolicy.name -> str

property value#

class cressim_neo.TexturePixelFormat#

Bases: pybind11_object

Specifies a texture pixel format.

Members:

RGBA8 : Four 8-bit RGBA channels.

RGBA16F : Four 16-bit floating-point RGBA channels.

RGBA16F = <TexturePixelFormat.RGBA16F: 1>#

RGBA8 = <TexturePixelFormat.RGBA8: 0>#

TexturePixelFormat.name -> str

property value#

class cressim_neo.TextureResourceDesc#

Bases: pybind11_object

Describes texture data to register.

property color_space#: Texture color space.

property debug_name#: Debug name for the texture.

property dimension#: Texture dimension.

property height#: Base-level texture height in pixels. Registration clamps it to at least one.

property mip_level_count#: Number of mip levels. Registration clamps it to at least one.

property mip_policy#: Declared mipmap policy; currently unused during texture registration.

property pixel_data#: Convenience base-level pixel data used at registration only when subresources is empty.

property pixel_format#: Texture pixel format.

property subresources#

one entry per mip and layer; cube textures have six layers.

Type:: Mip-major pixel data

property width#: Base-level texture width in pixels. Registration clamps it to at least one.

class cressim_neo.TextureSubresourceDesc#

Bases: pybind11_object

Pixel data for one texture mip level and layer.

property pixel_data#: Raw pixel bytes for the subresource.

class cressim_neo.Transform#

Bases: pybind11_object

Position, orientation, and per-axis scale of an object in world space.

property position#: World-space translation.

property rotation#: World-space orientation quaternion.

property scale#: Per-axis scale.

class cressim_neo.TransformComponent#

Bases: pybind11_object

World transform component for spatial positioning, orientation, and scaling.

property world_transform#: 3D world transform matrix/pose.

class cressim_neo.UInt3#

Bases: pybind11_object

Three-component unsigned 32-bit integer vector.

property x#: X component.

property y#: Y component.

property z#: Z component.

class cressim_neo.UInt4#

Bases: pybind11_object

Four-component unsigned 32-bit integer vector.

property w#: W component.

property x#: X component.

property y#: Y component.

property z#: Z component.

class cressim_neo.UltrasoundAmplitudeRange#

Bases: pybind11_object

Signal amplitude range for ultrasound acoustic scatterer reflections.

property maximum#: Maximum signal amplitude.

property minimum#: Minimum signal amplitude.

class cressim_neo.UltrasoundProbeComponent#

Bases: pybind11_object

Ultrasound transducer probe component for simulated B-mode ultrasound imaging.

property beam_sigma_elevational#: Elevational acoustic beam profile Gaussian sigma.

property beam_sigma_lateral#: Lateral acoustic beam profile Gaussian sigma.

property center_frequency#: Transducer center frequency (Hz).

property cuda_num_streams#: Number of concurrent CUDA streams.

property demodulation_frequency#: RF demodulation carrier frequency (Hz).

property enable_phase_delay#: Enable phase delay beamforming.

property enabled#: Enable ultrasound beam simulation.

property fractional_bandwidth#: Transducer fractional bandwidth.

property geometry#: Transducer array geometry.

property line_length#: Scanline penetration depth.

property noise_amplitude#: Thermal and speckle noise amplitude.

property num_scanlines#: Number of acoustic scanlines.

property num_time_samples#: RF time-domain samples per scanline.

property probe_radius#: Physical transducer head curvature radius.

property radial_decimation#: Radial decimation factor for image generation.

property sampling_frequency#: Acoustic RF signal sampling frequency (Hz).

property scanline_spacing#: Spacing between adjacent scanlines.

property sector_angle_degrees#: Sector sweep angle for curvilinear arrays.

property sound_speed#: Acoustic speed of sound in medium (m/s).

property threads_per_block#: CUDA compute block thread size.

property use_arc_projection#: Enable arc projection geometry.

property world_units_per_meter#: World unit scaling factor per meter.

class cressim_neo.UltrasoundProbeGeometry#

Bases: pybind11_object

Ultrasound transducer probe array geometry type.

Members:

Linear : Linear array transducer.

Curvilinear : Convex / curvilinear array transducer.

Curvilinear = <UltrasoundProbeGeometry.Curvilinear: 1>#

Linear = <UltrasoundProbeGeometry.Linear: 0>#

UltrasoundProbeGeometry.name -> str

property value#

class cressim_neo.UltrasoundProbeLayout#

Bases: pybind11_object

Output layout descriptor for ultrasound probe imaging targets.

property color_format#: Target texture format.

property image_height#: Output B-mode image height (pixels).

property image_width#: Output B-mode image width (pixels).

property layered_output_supported#: Support for array/layered render targets.

property num_scanlines#: Total scanlines in probe image.

property samples_per_scanline#: Acoustic samples per scanline.

class cressim_neo.UltrasoundProbeResult#

Bases: pybind11_object

Execution result containing output handles and metadata for ultrasound probe simulation.

property completed#: True if simulation completed for completedFrameIndex.

property completed_frame_index#: Frame index corresponding to completed ultrasound output.

property image_binding#: Render target binding for generated B-mode texture.

property image_height#: Generated B-mode image height.

property image_width#: Generated B-mode image width.

property num_scanlines#: Scanline count in output.

property prepared#: True if metadata/handles are published for current frame.

property samples_per_scanline#: Samples per scanline.

property total_scatterer_count#: Evaluated scatterer count.

class cressim_neo.UltrasoundRendererComponent#

Bases: pybind11_object

Renderer binding component for ultrasound B-mode image output generation.

property enabled#: Active rendering state.

property fixed_max_signal#: Fixed maximum signal normalization value.

property output#: Output target binding descriptor.

property output_height#: Output height in pixels.

property output_width#: Output width in pixels.

property use_fixed_max_normalization#: Enable fixed maximum signal intensity normalization.

class cressim_neo.UltrasoundScattererSourceComponent#

Bases: pybind11_object

Scatterer point cloud source for generating tissue ultrasound acoustic backscatter.

property density#: Acoustic scatterer point density per cubic meter.

property enabled#: Enable acoustic backscattering.

property point_distance_override#: Override spacing between scatterer points.

class cressim_neo.VulkanShaderCompilerMode#

Bases: pybind11_object

Shader compiler selection policy for the Vulkan backend.

Members:

Auto : Select DXC when available; otherwise use the default compiler.

ForceDefault : Always use the default compiler.

ForceDXC : Require the DirectX Shader Compiler (DXC).

Auto = <VulkanShaderCompilerMode.Auto: 0>#

ForceDXC = <VulkanShaderCompilerMode.ForceDXC: 2>#

ForceDefault = <VulkanShaderCompilerMode.ForceDefault: 1>#

VulkanShaderCompilerMode.name -> str

property value#

class cressim_neo.World#

Bases: pybind11_object

Primary ECS scene graph container managing entities, components, graphics views, and physics bindings.

add_collider(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.ColliderComponent) → cressim_neo._cressim_neo.ColliderHandle#: Adds a collider to an entity with a rigid body and returns its handle, or an invalid handle when the entity is invalid, not alive, or has no rigid body.

clear_ultrasound_scatterer_amplitude_ranges(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Clears ultrasound scatterer amplitude ranges for an entity.

collider_handles(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → list[cressim_neo._cressim_neo.ColliderHandle]#: Returns the collider handles belonging to an entity.

create_entity(self: cressim_neo._cressim_neo.World, env_index: SupportsInt | SupportsIndex = 0) → int#: Creates a new entity within the world scene graph. Returns an invalid entity ID when env_index is outside the configured environment count.

destroy_entity(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Destroys an existing entity and removes all associated components.

entities(self: cressim_neo._cressim_neo.World) → list[int]#: Returns the list of all active entity IDs in the world.

entity_environment(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → int#: Gets an entity’s environment index, or 0 when the entity is not alive.

entity_pose_slot(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → int#: Returns the entity pose slot, or an invalid slot for entities without one.

is_alive(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Checks if an entity is alive and active in the world.

remove_ball_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a ball joint and returns whether it existed.

remove_camera(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the camera component from an entity.

remove_collider(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.ColliderHandle) → bool#: Removes a registered collider handle.

remove_directional_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the directional light component from an entity.

remove_fluid(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the FluidComponent from an entity.

remove_hinge_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a hinge joint and returns whether it existed.

remove_mesh_renderer(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the mesh renderer component from an entity.

remove_particle_collision_filter(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes an authored particle collision filter and returns whether it existed.

remove_particle_distance_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes an authored particle distance constraint and returns whether it existed.

remove_particle_sequence(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes an authored particle sequence and returns whether it existed.

remove_point_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the point light component from an entity.

remove_procedural_deformable_curve_render(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes ProceduralDeformableCurveRenderComponent from an entity.

remove_rigid_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the RigidBodyComponent and all of its colliders from an entity.

remove_rigid_distance_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a rigid distance constraint and returns whether it existed.

remove_rigid_particle_attachment_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a rigid-particle attachment constraint and returns whether it existed.

remove_routed_cable_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a routed cable constraint and returns whether it existed.

remove_slider_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a slider joint and returns whether it existed.

remove_soft_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the SoftBodyComponent and its authored ultrasound amplitude ranges; returns True when either existed.

remove_spherical_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a spherical joint and returns whether it existed.

remove_spot_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the spot light component from an entity.

remove_strand(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the StrandComponent from an entity.

remove_strand_rigid_attachment_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes a strand-rigid attachment constraint and returns whether it existed.

remove_suturing_sequence(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes an authored suturing sequence and returns whether it existed.

remove_transform(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the transform component from an entity.

remove_ultrasound_probe(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the ultrasound probe component and its result from an entity.

remove_ultrasound_renderer(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the ultrasound renderer component and its result from an entity.

remove_ultrasound_scatterer_source(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → bool#: Removes the ultrasound scatterer source and its amplitude ranges from an entity.

replace_colliders(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: collections.abc.Sequence[cressim_neo._cressim_neo.ColliderComponent]) → bool#: Replaces all colliders on an entity with a rigid body. Returns False when the entity is invalid, not alive, or has no rigid body.

scene_layout(self: cressim_neo._cressim_neo.World) → cressim_neo._cressim_neo.SceneLayoutDesc#: Gets the current scene layout capacity descriptor.

set_camera(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.CameraComponent) → None#: Assigns or updates the CameraComponent for an entity.

set_directional_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.DirectionalLightComponent) → None#: Assigns or updates a DirectionalLightComponent for an entity.

set_entity_environment(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: SupportsInt | SupportsIndex) → bool#: Assigns an entity to a specific environment index, migrating associated state. Returns False for an invalid entity or environment index, or when migration fails.

set_environment_fluid(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.EnvironmentFluidDesc) → bool#: Configures environment fluid properties for an environment index.

set_environment_ibl(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.EnvironmentIblDesc) → bool#: Configures Image-Based Lighting (IBL) environment maps for an environment index.

set_fluid(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.FluidComponent) → bool#: Assigns a FluidComponent to an entity.

set_mesh_renderer(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.MeshRendererComponent) → None#: Assigns or updates the MeshRendererComponent for an entity.

set_meshfree_soft_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.MeshfreeSoftBodyComponent) → bool#: Assigns a MeshfreeSoftBodyComponent to an entity.

set_point_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.PointLightComponent) → None#: Assigns or updates a PointLightComponent for an entity.

set_procedural_deformable_curve_render(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.ProceduralDeformableCurveRenderComponent) → None#: Assigns a ProceduralDeformableCurveRenderComponent to an entity.

set_rigid_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.RigidBodyComponent) → None#: Assigns or updates a RigidBodyComponent for an entity.

set_scene_layout(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.SceneLayoutDesc) → None#: Sets scene layout capacities before any scene authoring occurs. Calls made after authoring has begun leave the existing layout unchanged.

set_soft_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.SoftBodyComponent) → bool#: Assigns a SoftBodyComponent to an entity. A successful replacement clears its authored ultrasound scatterer amplitude ranges.

set_spot_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.SpotLightComponent) → None#: Assigns or updates a SpotLightComponent for an entity.

set_strand(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.StrandComponent) → bool#: Assigns a StrandComponent to an entity.

set_transform(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.TransformComponent) → None#: Assigns or updates an entity transform. For a rigid body, this immediately teleports its pose without creating a kinematic target.

set_ultrasound_probe(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.UltrasoundProbeComponent) → None#: Assigns or updates an enabled ultrasound probe component. Passing a disabled component removes the probe and its published result.

set_ultrasound_renderer(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.UltrasoundRendererComponent) → None#: Assigns or updates an ultrasound renderer component for an entity.

set_ultrasound_scatterer_amplitude_ranges(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: collections.abc.Sequence[cressim_neo._cressim_neo.UltrasoundAmplitudeRange]) → None#: Sets ultrasound scatterer amplitude ranges for a soft-body entity. The list must contain exactly one range per authored particle.

set_ultrasound_scatterer_source(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex, arg1: cressim_neo._cressim_neo.UltrasoundScattererSourceComponent) → None#: Assigns or updates an enabled ultrasound scatterer source component. Passing a disabled component removes the source and its amplitude ranges.

try_get_ball_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a ball joint by ID, with connected bodies expressed as entity IDs, or None.

try_get_camera(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.CameraComponent | None#: Returns the camera component for an entity, or None.

try_get_collider(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.ColliderHandle) → cressim_neo._cressim_neo.ColliderComponent | None#: Returns the component for a registered collider handle, or None.

try_get_directional_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.DirectionalLightComponent | None#: Returns the directional light component for an entity, or None.

try_get_environment_fluid(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns the stored Environment fluid descriptor for an initialized environment index, including its default value when not explicitly configured; otherwise returns None.

try_get_environment_ibl(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns the stored Environment IBL descriptor for an initialized environment index, including its default value when not explicitly configured; otherwise returns None.

try_get_fluid(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.FluidComponent | None#: Returns the fluid component for an entity, or None.

try_get_hinge_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a hinge joint by ID, with connected bodies expressed as entity IDs, or None.

try_get_mesh_renderer(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.MeshRendererComponent | None#: Returns the mesh renderer component for an entity, or None.

try_get_particle_collision_filter(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns an authored particle collision filter by ID, or None.

try_get_particle_distance_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns an authored particle distance constraint by ID, or None.

try_get_particle_sequence(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns an authored particle sequence by ID, or None.

try_get_point_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.PointLightComponent | None#: Returns the point light component for an entity, or None.

try_get_procedural_deformable_curve_render(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.ProceduralDeformableCurveRenderComponent | None#: Returns the procedural deformable-curve render component for an entity, or None.

try_get_rigid_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.RigidBodyComponent | None#: Returns the rigid body component for an entity, or None.

try_get_rigid_distance_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a rigid distance constraint by ID, or None.

try_get_rigid_particle_attachment_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a rigid-particle attachment constraint by ID, or None.

try_get_routed_cable_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a routed cable constraint by ID, or None.

try_get_slider_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a slider joint by ID, with connected bodies expressed as entity IDs, or None.

try_get_soft_body(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.SoftBodyComponent | None#: Returns the soft body component for an entity, or None.

try_get_soft_body_authoring_particles(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.SoftBodyAuthoringParticles | None#: Returns the authored rest positions for a soft body, or None.

try_get_spherical_joint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a spherical joint by ID, with connected bodies expressed as entity IDs, or None.

try_get_spot_light(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.SpotLightComponent | None#: Returns the spot light component for an entity, or None.

try_get_strand(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.StrandComponent | None#: Returns the strand component for an entity, or None.

try_get_strand_rigid_attachment_constraint(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns a strand-rigid attachment constraint by ID, or None.

try_get_suturing_sequence(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns an authored suturing sequence by ID, or None.

try_get_transform(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.TransformComponent | None#: Returns the transform component for an entity, or None.

try_get_ultrasound_probe(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.UltrasoundProbeComponent | None#: Returns the ultrasound probe component for an entity, or None.

try_get_ultrasound_probe_result(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns the most recently published ultrasound probe result for an entity, or None.

try_get_ultrasound_renderer(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.UltrasoundRendererComponent | None#: Returns the ultrasound renderer component for an entity, or None.

try_get_ultrasound_scatterer_amplitude_ranges(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → object#: Returns ultrasound scatterer amplitude ranges for an entity, or None.

try_get_ultrasound_scatterer_source(self: cressim_neo._cressim_neo.World, arg0: SupportsInt | SupportsIndex) → cressim_neo._cressim_neo.UltrasoundScattererSourceComponent | None#: Returns the ultrasound scatterer source component for an entity, or None.

update_collider(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.ColliderHandle, arg1: cressim_neo._cressim_neo.ColliderComponent) → None#: Updates the component of a registered collider handle.

upsert_ball_joint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.BallJointState) → bool#: Creates or updates a ball joint between two rigid-body entities and returns whether it succeeded. Both entities must be alive, have rigid bodies, and share an environment.

upsert_hinge_joint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.HingeJointState) → bool#: Creates or updates a hinge joint between two rigid-body entities and returns whether it succeeded. Both entities must be alive, have rigid bodies, and share an environment.

upsert_particle_collision_filter(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredParticleCollisionFilterState) → cressim_neo._cressim_neo.AuthoredParticleCollisionFilterState#: Creates or updates an authored particle collision filter and returns its normalized stored state. A zero collision layer becomes 1; its particle reference is resolved when derived state is rebuilt.

upsert_particle_distance_constraint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredParticleDistanceConstraintState) → cressim_neo._cressim_neo.AuthoredParticleDistanceConstraintState#: Creates or updates an authored particle distance constraint and returns its normalized stored state. Negative rest length and compliance become zero; particle references are resolved when derived state is rebuilt.

upsert_particle_sequence(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredParticleSequenceState) → cressim_neo._cressim_neo.AuthoredParticleSequenceState#: Creates or updates an authored particle sequence and returns its stored state.

upsert_rigid_distance_constraint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredRigidDistanceConstraintState) → bool#: Creates or updates a rigid distance constraint. Bodies must be distinct and share an environment; negative rest distance and compliance become zero. Returns False for invalid/same-body references or different environments.

upsert_rigid_particle_attachment_constraint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredRigidParticleAttachmentConstraintState) → bool#: Creates or updates a rigid-particle attachment constraint. The particle and rigid body must exist in the same environment; negative compliance becomes zero. Returns False for invalid/out-of-range references or different environments.

upsert_routed_cable_constraint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredRoutedCableConstraintState) → bool#: Creates or updates a routed cable constraint. Its route needs at least two rigid-body guide points in one environment with no consecutive duplicate bodies; negative target length and compliance become zero. Returns False for an invalid route.

upsert_slider_joint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.SliderJointState) → bool#: Creates or updates a slider joint between two rigid-body entities and returns whether it succeeded. Both entities must be alive, have rigid bodies, and share an environment.

upsert_spherical_joint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.SphericalJointState) → bool#: Creates or updates a spherical joint between two rigid-body entities and returns whether it succeeded. Both entities must be alive, have rigid bodies, and share an environment.

upsert_strand_rigid_attachment_constraint(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredStrandRigidAttachmentConstraintState) → bool#: Creates or updates a strand-rigid attachment constraint. The segment and rigid body must exist in the same environment; segment_t is clamped to [0, 1], rotation is normalized, and negative compliance becomes zero. Returns False when invalid.

upsert_suturing_sequence(self: cressim_neo._cressim_neo.World, arg0: cressim_neo._cressim_neo.AuthoredSuturingSequenceState) → cressim_neo._cressim_neo.AuthoredSuturingSequenceState#: Creates or updates an authored suturing sequence and returns its normalized stored state. Negative path-node spacing becomes zero and tip_entry_index is clamped to the entries.

cressim_neo.get_cuda_runtime_diagnostics() → dict[str, object]#

Return the active CRESSim CUDA runtime contract and loaded library paths.

This is intentionally Python data rather than a native binding so it is available before a detailed import failure and is useful in support logs.

cressim_neo.make_box_mesh(half_extents: cressim_neo._cressim_neo.Float3, debug_name: str, uv_scale_u: SupportsFloat | SupportsIndex = 1.0, uv_scale_v: SupportsFloat | SupportsIndex = 1.0) → cressim_neo._cressim_neo.MeshResourceDesc#: Creates an origin-centered box mesh with per-axis half-extents and per-face UVs.

cressim_neo.make_capsule_mesh(radius: SupportsFloat | SupportsIndex, half_height: SupportsFloat | SupportsIndex, slices: SupportsInt | SupportsIndex, hemisphere_rings: SupportsInt | SupportsIndex, body_rings: SupportsInt | SupportsIndex, debug_name: str) → cressim_neo._cressim_neo.MeshResourceDesc#: Creates a Y-axis capsule mesh with a cylindrical half-height and hemispherical end caps.

cressim_neo.make_cube_mesh(half_extent: SupportsFloat | SupportsIndex, debug_name: str = 'Python.CubeMesh', uv_scale: SupportsFloat | SupportsIndex = 1.0) → cressim_neo._cressim_neo.MeshResourceDesc#: Creates an origin-centered box mesh with equal half-extents and per-face UVs.

cressim_neo.make_plane_mesh(half_extent: SupportsFloat | SupportsIndex, debug_name: str, uv_scale: SupportsFloat | SupportsIndex = 1.0) → cressim_neo._cressim_neo.MeshResourceDesc#: Creates an origin-centered XZ-plane mesh at y = 0 with upward normals.

cressim_neo.make_sphere_mesh(radius: SupportsFloat | SupportsIndex, slices: SupportsInt | SupportsIndex, stacks: SupportsInt | SupportsIndex, debug_name: str) → cressim_neo._cressim_neo.MeshResourceDesc#: Creates a UV sphere mesh centered at the origin and tessellated by slices and stacks.

Higher-level environments and PSM authoring helpers are provided by the sibling cressim_neo_envs package. The task modules use the paper’s names: cartpole, soft_body_push_env, fluid_pour_env, target_center_env, tissue_retract_env, blood_suction_env, and ultrasound_scan_env. Import a task environment from its defining module, for example cressim_neo_envs.tissue_retract_env.TissueRetractTorchVectorEnv.