ovphysx

ovphysx is a self-contained library package offering PhysX simulation through a C API and corresponding Python bindings for inclusion in user applications. It consumes caller-owned ovstage data, runs simulation, returns Warp arrays from the Python output-read API, and retains DLTensor-based native interoperability.

To get started, refer to the Quickstart.

Note

• Maturity: ovphysx is pre-release software and not yet mature.

• USD coexistence: ovphysx ships no OpenUSD runtime and never loads, links, or version-checks one. ovstage, the mandatory exact-version dependency, ingests USD scenes through its own internal namespaced OpenUSD runtime; the application owns whatever USD it authors with (for example stock usd-core). ovphysx ships its PhysX USD schemas as codeless plugins: register them with the USD runtime you own before the first ovstage population call or schema-registry access, or the ovstage attach is refused. Scenes that author Newton newton:* attributes also need the separately installed newton-usd-schemas package registered the same way; attach_ovstage() warns when it was not. Refer to Physics Schemas.

• API stability: Parts of the API are still being completed and may change before 1.0.

ovphysx packages a USD-aware PhysX simulation runtime with tensorized data access. Applications populate scenes through ovstage, attach the stage to ovphysx, and drain committed ordinal ranges into simulation.

The source repository of ovphysx is the NVIDIA-Omniverse/PhysX GitHub repository.

External references of contained functionality:

• Omni PhysX User Guide

• PhysX SDK Documentation

Table of Contents

Overview

• ovphysx Overview
• Developer Guide
• OV Libraries V2 Transitional Annex: Timeout Type
• Local Development
• Changelog

ovstage Integration

• ovstage Integration and Physics Output Read

Simulation Setup

• Physics Scene and Simulation Configuration
• Colliders
• Rigid Bodies
• Kinematic Support Geometry
• Joints
• Articulations
• Deformable Bodies
• Particles

Physics Schemas

• Physics Schemas
• ovstage Physics Population Domain

Read/Write Data Contract

• Overview
• Data model and semantics
• Device residency and interop
• Readable data
• Writable data
• Known limitations and gaps

Tutorials

• Quickstart
• Hello World – Populate ovstage and Step
• Tensor Bindings (deprecated)
• Contact Binding – Reading Contact Forces
• Cloning – Replicate Environments
• Rendering Handoff
• PhysX Interop – Direct PhysX SDK Access
• OmniPVD Recording – Capture Physics Internals to FILE or TCP
• NVTX Profiling in Nsight Systems
• Building Against the ovphysx Source Tree

Guides

• Simulation Performance Guide
• Collision Behavior Guide
• Articulation and Robot Simulation Stability Guide
• Joint Parameter Tuning Example: Robotiq 2F-85
• Known Physics Limitations

API Reference

• Python API Reference
• C API Reference

Legal

• Security