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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 | # 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 Collision SDF
#
# Shows how to set up a particle-based granular material model using the
# wp.sim.ModelBuilder(). This version shows how to create collision geometry
# objects from SDFs.
#
###########################################################################
import math
import os
import numpy as np
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, 20.0, 0.0),
rot=wp.quat_identity(),
vel=wp.vec3(2.0, 0.0, 0.0),
mass=0.1,
jitter=self.radius * 0.1,
)
rock_file = open(os.path.join(os.path.dirname(__file__), "assets/rocks.nvdb"), "rb")
rock_vdb = wp.Volume.load_from_nvdb(rock_file.read())
rock_file.close()
rock_sdf = wp.sim.SDF(rock_vdb)
builder.add_shape_sdf(
ke=1.0e4,
kd=1000.0,
kf=1000.0,
mu=0.5,
sdf=rock_sdf,
body=-1,
pos=wp.vec3(0.0, 0.0, 0.0),
rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -0.5 * math.pi),
scale=wp.vec3(0.01, 0.01, 0.01),
)
mins = np.array([-3.0, -3.0, -3.0])
voxel_size = 0.2
maxs = np.array([3.0, 3.0, 3.0])
nums = np.ceil((maxs - mins) / (voxel_size)).astype(dtype=int)
center = np.array([0.0, 0.0, 0.0])
rad = 2.5
sphere_sdf_np = np.zeros(tuple(nums))
for x in range(nums[0]):
for y in range(nums[1]):
for z in range(nums[2]):
pos = mins + voxel_size * np.array([x, y, z])
dis = np.linalg.norm(pos - center)
sphere_sdf_np[x, y, z] = dis - rad
sphere_vdb = wp.Volume.load_from_numpy(sphere_sdf_np, mins, voxel_size, rad + 3.0 * voxel_size)
sphere_sdf = wp.sim.SDF(sphere_vdb)
self.sphere_pos = wp.vec3(3.0, 15.0, 0.0)
self.sphere_scale = 1.0
self.sphere_radius = rad
builder.add_shape_sdf(
ke=1.0e4,
kd=1000.0,
kf=1000.0,
mu=0.5,
sdf=sphere_sdf,
body=-1,
pos=self.sphere_pos,
scale=wp.vec3(self.sphere_scale, self.sphere_scale, self.sphere_scale),
)
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()
wp.sim.collide(self.model, self.state_0)
self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
# swap states
(self.state_0, self.state_1) = (self.state_1, self.state_0)
self.sim_time += self.frame_dt
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)
# Note the extra wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi) is because .usd is oriented differently from .nvdb
self.renderer.render_ref(
name="collision",
path=os.path.join(os.path.dirname(__file__), "assets/rocks.usd"),
pos=wp.vec3(0.0, 0.0, 0.0),
rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -0.5 * math.pi)
* wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi),
scale=wp.vec3(0.01, 0.01, 0.01),
)
self.renderer.render_sphere(
name="sphere",
pos=self.sphere_pos,
radius=self.sphere_scale * self.sphere_radius,
rot=wp.quat(0.0, 0.0, 0.0, 1.0),
)
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_sdf_shape.usd")
example = Example(stage_path)
for _ in range(example.frame_count):
example.update()
example.render()
example.renderer.save()
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