API Overview

Quaternion ordering

ke.Quat objects consistently use wxyz ordering, including construction from Python or NumPy values and conversion with np.asarray(q). Use ke.Quat.from_xyzw(...) and q.to_xyzw() at APIs that explicitly use rot_xyzw arrays. Physics and simulation state arrays retain their documented xyzw ordering.

KangEngine’s Python API is organized by task and domain. Start with the user guide for runnable workflows; use the API Reference for exact signatures.

Common entry points

Goal	Start here
Create a window or tool	ke.App
Add authored scene objects	app.scene and ke.geometry
Load FBX, BVH, MJCF, OBJ, or optional USD	ke.asset
Configure appearance	ke.material
Run Python simulation	ke.sim.KangSimWorld
Configure render, physics, and fixed-update rates	ke.SimulationTimingConfig
Display simulation state	ke.visual.sim.SimWorldVisualizer
Inspect or edit motion	ke.motion_module
Use low-level renderer objects	ke.render
Use low-level PhysX objects	ke.physics

Recommended reading

1. Installation

2. Hello App

3. First Scene

4. First Simulation

5. Scene and Rendering or Simulation

Architecture and backend details are intentionally kept under Advanced Topics.