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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 Force | |
| # | |
| # Shows how to apply an external force (torque) to a rigid body causing | |
| # it to roll. | |
| # | |
| ########################################################################### | |
| import os | |
| import warp as wp | |
| import warp.sim | |
| import warp.sim.render | |
| wp.init() | |
| class Example: | |
| def __init__(self, stage): | |
| self.sim_fps = 60.0 | |
| self.sim_substeps = 5 | |
| 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 | |
| builder = wp.sim.ModelBuilder() | |
| b = builder.add_body(origin=wp.transform((0.0, 2.0, 0.0), wp.quat_identity())) | |
| builder.add_shape_box(body=b, hx=0.5, hy=0.5, hz=0.5, density=1000.0) | |
| self.model = builder.finalize() | |
| self.model.ground = True | |
| self.integrator = wp.sim.XPBDIntegrator() | |
| self.state_0 = self.model.state() | |
| self.state_1 = self.model.state() | |
| self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=20.0) | |
| def update(self): | |
| with wp.ScopedTimer("simulate"): | |
| for _ in range(self.sim_substeps): | |
| wp.sim.collide(self.model, self.state_0) | |
| self.state_0.clear_forces() | |
| self.state_1.clear_forces() | |
| self.state_0.body_f.assign( | |
| [ | |
| [0.0, 0.0, -3000.0, 0.0, 0.0, 0.0], | |
| ] | |
| ) | |
| 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"): | |
| 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_force.usd") | |
| example = Example(stage_path) | |
| for i in range(example.sim_frames): | |
| example.update() | |
| example.render() | |
| example.renderer.save() | |