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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 | # 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 Rigid FEM
#
# Shows how to set up a rigid sphere colliding with an FEM beam
# using 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.sim_width = 8
self.sim_height = 8
self.sim_fps = 60.0
self.sim_substeps = 32
self.sim_duration = 5.0
self.sim_frames = int(self.sim_duration * self.sim_fps)
self.sim_dt = (1.0 / self.sim_fps) / self.sim_substeps
self.sim_time = 0.0
self.sim_iterations = 1
self.sim_relaxation = 1.0
builder = wp.sim.ModelBuilder()
builder.default_particle_radius = 0.01
builder.add_soft_grid(
pos=wp.vec3(0.0, 0.0, 0.0),
rot=wp.quat_identity(),
vel=wp.vec3(0.0, 0.0, 0.0),
dim_x=20,
dim_y=10,
dim_z=10,
cell_x=0.1,
cell_y=0.1,
cell_z=0.1,
density=100.0,
k_mu=50000.0,
k_lambda=20000.0,
k_damp=0.0,
)
b = builder.add_body(origin=wp.transform((0.5, 2.5, 0.5), wp.quat_identity()))
builder.add_shape_sphere(body=b, radius=0.75, density=100.0)
self.model = builder.finalize()
self.model.ground = True
self.model.soft_contact_ke = 1.0e3
self.model.soft_contact_kd = 0.0
self.model.soft_contact_kf = 1.0e3
self.integrator = wp.sim.SemiImplicitIntegrator()
self.state_0 = self.model.state()
self.state_1 = self.model.state()
self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=1.0)
def update(self):
with wp.ScopedTimer("simulate", active=True):
for s in range(self.sim_substeps):
wp.sim.collide(self.model, self.state_0)
self.state_0.clear_forces()
self.state_1.clear_forces()
self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
self.sim_time += self.sim_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_rigid_fem.usd")
example = Example(stage_path)
for i in range(example.sim_frames):
example.update()
example.render()
example.renderer.save()
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