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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 | # 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 Sim Granular
#
# Shows how to set up a particle-based granular material model using the
# wp.sim.ModelBuilder().
#
###########################################################################
import os
import warp as wp
import warp.sim
import warp.sim.render
wp.init()
class Example:
def __init__(self, stage):
self.frame_dt = 1.0 / 60
self.frame_count = 400
self.sim_substeps = 64
self.sim_dt = self.frame_dt / self.sim_substeps
self.sim_steps = self.frame_count * self.sim_substeps
self.sim_time = 0.0
self.radius = 0.1
builder = wp.sim.ModelBuilder()
builder.default_particle_radius = self.radius
builder.add_particle_grid(
dim_x=16,
dim_y=32,
dim_z=16,
cell_x=self.radius * 2.0,
cell_y=self.radius * 2.0,
cell_z=self.radius * 2.0,
pos=wp.vec3(0.0, 1.0, 0.0),
rot=wp.quat_identity(),
vel=wp.vec3(5.0, 0.0, 0.0),
mass=0.1,
jitter=self.radius * 0.1,
)
self.model = builder.finalize()
self.model.particle_kf = 25.0
self.model.soft_contact_kd = 100.0
self.model.soft_contact_kf *= 2.0
self.state_0 = self.model.state()
self.state_1 = self.model.state()
self.integrator = wp.sim.SemiImplicitIntegrator()
self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=20.0)
def update(self):
with wp.ScopedTimer("simulate", active=True):
self.model.particle_grid.build(self.state_0.particle_q, self.radius * 2.0)
for _ in range(self.sim_substeps):
self.state_0.clear_forces()
self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
self.sim_time += self.frame_dt
# swap states
(self.state_0, self.state_1) = (self.state_1, self.state_0)
def render(self, is_live=False):
with wp.ScopedTimer("render", active=True):
time = 0.0 if is_live else self.sim_time
self.renderer.begin_frame(time)
self.renderer.render(self.state_0)
self.renderer.end_frame()
if __name__ == "__main__":
stage_path = os.path.join(os.path.dirname(__file__), "outputs/example_sim_granular.usd")
example = Example(stage_path)
for _ in range(example.frame_count):
example.update()
example.render()
example.renderer.save()
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