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66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 | # Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
###########################################################################
# Example Marching Cubes
#
# Shows how use the built-in marching cubes functionality to extract
# the iso-surface from a density field.
#
###########################################################################
import math
import os
import warp as wp
import warp.render
wp.init()
# signed sphere
@wp.func
def sdf_sphere(p: wp.vec3, r: float):
return wp.length(p) - r
# signed box
@wp.func
def sdf_box(upper: wp.vec3, p: wp.vec3):
qx = wp.abs(p[0]) - upper[0]
qy = wp.abs(p[1]) - upper[1]
qz = wp.abs(p[2]) - upper[2]
e = wp.vec3(wp.max(qx, 0.0), wp.max(qy, 0.0), wp.max(qz, 0.0))
return wp.length(e) + wp.min(wp.max(qx, wp.max(qy, qz)), 0.0)
@wp.func
def op_union(d1: float, d2: float):
return wp.min(d1, d2)
@wp.func
def op_smooth_union(d1: float, d2: float, k: float):
a = d1
b = d2
h = wp.clamp(0.5 + 0.5 * (b - a) / k, 0.0, 1.0)
return wp.lerp(b, a, h) - k * h * (1.0 - h)
@wp.func
def op_subtract(d1: float, d2: float):
return wp.max(-d1, d2)
@wp.func
def op_intersect(d1: float, d2: float):
return wp.max(d1, d2)
@wp.kernel
def make_field(field: wp.array3d(dtype=float), center: wp.vec3, radius: float, time: float):
i, j, k = wp.tid()
p = wp.vec3(float(i), float(j), float(k))
rng = wp.rand_init(42)
noise = wp.noise(rng, wp.vec4(float(i) + 0.5, float(j) + 0.5, float(k) + 0.5, time) * 0.25)
sphere = 2.0 * noise + wp.length(p - center) - radius
box = sdf_box(wp.vec3(16.0, 48.0, 16.0), p - center)
d = op_smooth_union(sphere, box, 4.0)
field[i, j, k] = d
class Example:
def __init__(self, stage):
self.dim = 128
self.max_verts = 10**6
self.max_tris = 10**6
self.time = 0.0
self.frame_dt = 1.0 / 60.0
self.field = wp.zeros(shape=(self.dim, self.dim, self.dim), dtype=float)
self.iso = wp.MarchingCubes(
nx=self.dim, ny=self.dim, nz=self.dim, max_verts=self.max_verts, max_tris=self.max_tris
)
self.renderer = wp.render.UsdRenderer(stage)
def update(self):
with wp.ScopedTimer("Update Field"):
wp.launch(
make_field,
dim=self.field.shape,
inputs=[self.field, wp.vec3(self.dim / 2, self.dim / 2, self.dim / 2), self.dim / 4, self.time],
)
self.time += self.frame_dt
with wp.ScopedTimer("Surface Extraction"):
self.iso.surface(field=self.field, threshold=math.sin(self.time) * self.dim / 8)
def render(self, is_live=False):
with wp.ScopedTimer("Render"):
self.renderer.begin_frame(self.time)
self.renderer.render_mesh("surface", self.iso.verts.numpy(), self.iso.indices.numpy(), update_topology=True)
self.renderer.end_frame()
if __name__ == "__main__":
stage_path = os.path.join(os.path.dirname(__file__), "outputs/example_marching_cubes.usd")
example = Example(stage_path)
for i in range(240):
example.update()
example.render()
example.renderer.save()
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