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| # 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() | |