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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 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() | |