def load_mpm_state(solver: MPMSolver, save_dir: str):
if not solver.use_g2p2g:
raise NotImplementedError
# load particle information
state = np.load(save_dir)
resume_frame = state['frame']
phase = state['input_grid']
num_particle = state['position'].shape[0]
# assert(num_particle == )
print(f"we have {num_particle} particles !")
solver.n_particles[None] = num_particle
solver.input_grid = phase
copyback_dynamic_nd(solver, state['position'], solver.x)
copyback_dynamic_nd(solver, state['velocity'], solver.v)
copyback_dynamic(solver, state['material'], solver.material)
copyback_dynamic(solver, state['color'], solver.color)
copyback_matrix(state['F'], solver.F, solver)
if solver.support_plasticity:
copyback_dynamic(solver, state['p_Jp'], solver.Jp)
copyback_grid(state['grid_v_idx'], state['grid_v_val'],
solver.grid_v[phase], solver)
print(f'load {resume_frame}th frame from {save_dir}!')
return resume_frame
def save_mpm_state(solver: MPMSolver, frame: int, save_dir: str):
"""
Save MPM middle state as a npz file
:param solver:
:param frame:
:param save_dir:
:return:
"""
if not solver.use_g2p2g:
raise NotImplementedError
particles = solver.particle_info() # particle information
# other meta data
phase = solver.input_grid
# save grid_v
count_activate(solver.grid_v[phase])
print(f"we have {count[None]} nodes activated")
np_grid_idx = np.ndarray((count[None], solver.dim), dtype=np.float32)
np_grid_val = np.ndarray((count[None], solver.dim), dtype=np.float32)
copy_grid(np_grid_idx, np_grid_val, solver.grid_v[phase], solver)
# save deformation gradient
np_F = np.ndarray((solver.n_particles[None], solver.dim, solver.dim),
dtype=np.float32)
copy_matrix(np_F, solver.F, solver)
particles['F'] = np_F
if mpm.support_plasticity:
np_j = np.ndarray((solver.n_particles[None], ), dtype=np.float32)
solver.copy_dynamic(np_j, solver.Jp)
particles['p_Jp'] = np_j
np.savez(save_dir,
frame=frame,
input_grid=phase,
grid_v_idx=np_grid_idx,
grid_v_val=np_grid_val,
**particles)
print(f'save {frame}th frame to {save_dir}')
return
for i, face in enumerate(elements['vertex_indices']):
assert len(face) == 3
for d in range(3):
triangles[i, d * 3 + 0] = x[face[d]] * scale + offset[0]
triangles[i, d * 3 + 1] = y[face[d]] * scale + offset[1]
triangles[i, d * 3 + 2] = z[face[d]] * scale + offset[2]
print('loaded')
return triangles
# Use 512 for final simulation/render
R = 256
mpm = MPMSolver(res=(R, R, R), size=1, unbounded=True, dt_scale=0.5, E_scale=8)
mpm.add_surface_collider(point=(0, 0, 0),
normal=(0, 1, 0),
surface=mpm.surface_slip,
friction=0.5)
triangles = load_mesh('taichi.ply', scale=0.04, offset=(0.5, 0.5, 0.5))
triangles_small = load_mesh('taichi.ply', scale=0.0133, offset=(0.5, 0.5, 0.5))
mpm.set_gravity((0, -25, 0))
def visualize(particles):
np_x = particles['position'] / 1.0
import numpy as np
import os
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = False
if write_to_disk:
os.makedirs('outputs', exist_ok=True)
# Try to run on GPU
ti.init(arch=ti.cuda, device_memory_GB=4.0)
gui = ti.GUI("Taichi Elements", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(64, 64, 64), size=1)
mpm.set_gravity((0, -20, 0))
mpm.add_sphere_collider(center=(0.25, 0.5, 0.5),
radius=0.1,
surface=mpm.surface_slip)
mpm.add_sphere_collider(center=(0.5, 0.5, 0.5),
radius=0.1,
surface=mpm.surface_sticky)
mpm.add_sphere_collider(center=(0.75, 0.5, 0.5),
radius=0.1,
surface=mpm.surface_separate)
for frame in range(1500):
mpm.add_cube((0.2, 0.8, 0.45), (0.1, 0.03, 0.1),
import taichi as ti
import numpy as np
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = False
# Try to run on GPU
ti.init(arch=ti.cuda, kernel_profiler=True)
gui = ti.GUI("MPM Benchmark", res=256, background_color=0x112F41)
mpm = MPMSolver(res=(256, 256, 256), size=1, unbounded=False)
particles = np.fromfile('benchmark_particles.bin', dtype=np.float32)
particles = particles.reshape(len(particles) // 3, 3)
print(len(particles))
mpm.add_particles(particles=particles,
material=MPMSolver.material_elastic,
color=0xFFFF00)
mpm.set_gravity((0, -20, 0))
for frame in range(1500):
mpm.step(3e-3)
particles = mpm.particle_info()
np_x = particles['position'] / 1.0
# simple camera transform
screen_x = ((np_x[:, 0] + np_x[:, 2]) / 2**0.5) - 0.2
import taichi as ti
import numpy as np
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = False
# Try to run on GPU
ti.init(arch=ti.cuda, device_memory_GB=2.0, use_unified_memory=False)
gui = ti.GUI("Taichi Elements", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(64, 64, 64), size=10)
mpm.add_ellipsoid(center=[2, 4, 3],
radius=1,
material=MPMSolver.material_snow,
velocity=[0, -10, 0])
mpm.add_cube(lower_corner=[2, 6, 3],
cube_size=[1, 1, 3],
material=MPMSolver.material_elastic)
mpm.add_cube(lower_corner=[2, 8, 3],
cube_size=[1, 1, 3],
material=MPMSolver.material_sand)
mpm.set_gravity((0, -50, 0))
for frame in range(1500):
mpm.step(4e-3)
colors = np.array([0x068587, 0xED553B, 0xEEEEF0, 0xFFFF00],
dtype=np.uint32)
print(args)
return args
args = parse_args()
write_to_disk = args.out_dir is not None
if write_to_disk:
os.mkdir(f'{args.out_dir}')
ti.init(arch=ti.cuda) # Try to run on GPU
n = 256
gui = ti.GUI("Taichi Elements", res=n, background_color=0x112F41)
activate_vis = ti.Vector.field(3, dtype=ti.f32, shape=[n, n])
mpm = MPMSolver(res=(n, n))
for i in range(3):
mpm.add_cube(lower_corner=[0.2 + i * 0.1, 0.3 + i * 0.1],
cube_size=[0.1, 0.1],
material=MPMSolver.material_elastic)
@ti.kernel
def block_active(vs_field: ti.template(), solver: ti.template()):
for I in ti.grouped(vs_field):
blk_I = I // solver.leaf_block_size - solver.block_offset
if ti.is_active(solver.block,
blk_I) and (I % solver.leaf_block_size).min() != 0:
vs_field[I] = [0.11, 0.22, 0.25]
else:
import taichi as ti
import numpy as np
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = False
ti.init(arch=ti.cuda) # Try to run on GPU
gui = ti.GUI("Taichi MLS-MPM-99", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(256, 256))
mpm.set_gravity([0, 0])
mpm.add_ellipsoid(center=[0.25, 0.45],
radius=0.07,
velocity=[1, 0],
color=0xAAAAFF,
material=MPMSolver.material_snow)
mpm.add_ellipsoid(center=[0.75, 0.52],
radius=0.07,
velocity=[-1, 0],
color=0xFFAAAA,
material=MPMSolver.material_snow)
for frame in range(500):
mpm.step(8e-3)
particles = mpm.particle_info()
gui.circles(particles['position'], radius=1.5, color=particles['color'])
gui.show(f'{frame:06d}.png' if write_to_disk else None)
import numpy as np
import os
import time
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = True
if write_to_disk:
output_dir = "/home/blatny/repos/taichi_elements/demo/output/sim_1/"
os.makedirs(os.path.dirname(output_dir), exist_ok=True)
ti.init(arch=ti.cpu)
gui = ti.GUI("Taichi Elements", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(32, 32, 32), size=10)
mpm.add_ellipsoid(center=[2, 4, 3],
radius=1,
material=MPMSolver.material_snow,
velocity=[0, -10, 0])
mpm.set_gravity((0, -50, 0))
start_t = time.time()
for frame in range(3):
print(f'frame: {frame}')
t = time.time()
mpm.step(4e-3)
# colors = np.array([0x068587, 0xED553B, 0xEEEEF0, 0xFFFF00], dtype=np.uint32)
import taichi as ti
import numpy as np
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = False
ti.init(arch=ti.cuda) # Try to run on GPU
gui = ti.GUI("Taichi MLS-MPM-99", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(128, 128))
mpm.add_ellipsoid(center=[0.4, 0.4],
radius=[0.2, 0.2],
material=MPMSolver.material_snow)
for frame in range(500):
mpm.step(8e-3)
colors = np.array([0x068587, 0xED553B, 0xEEEEF0, 0xFFFF00],
dtype=np.uint32)
particles = mpm.particle_info()
gui.circles(particles['position'],
radius=1.5,
color=colors[particles['material']])
gui.show(f'{frame:06d}.png' if write_to_disk else None)
def main():
parser = parse_mpm()
args = parser.parse_args()
simulation_trajectories = []
if args.material == 'water':
material = MPMSolver.material_water
elif args.material == 'elastic':
material = MPMSolver.material_elastic
elif args.material == 'snow':
material = MPMSolver.material_snow
elif args.material == 'sand':
material = MPMSolver.material_sand
for sim_i in range(args.num_sims):
ti.init(arch=ti.cuda) # Try to run on GPU
gui = ti.GUI("Taichi MLS-MPM-99", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(128, 128))
mpm.E = args.young
# init condition
n_samples = args.ncubes * 10
lower_corner_candidates = np.random.uniform(0.2,
0.8,
size=(n_samples, 2))
cube_size_candidates = np.random.uniform(0.06,
0.15,
size=(n_samples, 2))
lower_corners = []
cube_sizes = []
num_cubes = args.ncubes
for s in range(1, n_samples):
if not cube_overlap(
lower_corner_candidates[:s], cube_size_candidates[:s],
lower_corner_candidates[s], cube_size_candidates[s]):
lower_corners.append(lower_corner_candidates[s])
cube_sizes.append(cube_size_candidates[s])
if len(lower_corners) == num_cubes:
break
for i in range(len(lower_corners)):
mpm.add_cube(lower_corner=lower_corners[i],
cube_size=cube_sizes[i],
material=material)
simulation_trajectories.append(simulate(mpm, gui, args))
#rollout(simulation_trajectories[0], gui, args.gui_particle_radius)
#cluster_scene(simulation_trajectories[-1][0])
if (sim_i + 1) % 1 == 0:
print('Simulated {} trajectories.'.format(sim_i + 1))
data_path = os.path.join('../data/', args.dataset_name)
if not os.path.exists(data_path):
os.makedirs(data_path)
if (sim_i + 1) % 100 == 0 or sim_i + 1 == args.num_sims:
print(len(simulation_trajectories))
with open(
'../data/{}/{}_{}.pkl'.format(args.dataset_name,
args.material, sim_i // 100),
'wb') as f:
pkl.dump(simulation_trajectories, f)
simulation_trajectories = []
triangles[i, d * 3 + 1] = y[face[d]] * scale[1] + offset[1]
triangles[i, d * 3 + 2] = z[face[d]] * scale[2] + offset[2]
print('loaded')
return triangles
# Use 512 for final simulation/render
# R = 256
R = 128
count = ti.field(ti.i32, shape=())
mpm = MPMSolver(res=(R, R, R),
size=1,
unbounded=True,
dt_scale=1,
quant=True,
use_g2p2g=True,
support_plasticity=False)
mpm.add_surface_collider(point=(0, 0, 0),
normal=(0, 1, 0),
surface=mpm.surface_slip,
friction=0.5)
mpm.add_surface_collider(point=(0, 1.9, 0),
normal=(0, -1, 0),
surface=mpm.surface_slip,
friction=0.5)
for d in [0, 2]:
for i, face in enumerate(elements['vertex_indices']):
assert len(face) == 3
for d in range(3):
triangles[i, d * 3 + 0] = x[face[d]] * scale + offset[0]
triangles[i, d * 3 + 1] = y[face[d]] * scale + offset[1]
triangles[i, d * 3 + 2] = z[face[d]] * scale + offset[2]
print('loaded')
return triangles
# Use 512 for final simulation/render
R = 256
mpm = MPMSolver(res=(R, R, R), size=1, unbounded=True, dt_scale=1)
mpm.add_surface_collider(point=(0, 0, 0),
normal=(0, 1, 0),
surface=mpm.surface_slip,
friction=0.5)
triangles = load_mesh('taichi.ply', scale=0.02, offset=(0.5, 0.6, 0.5))
mpm.set_gravity((0, -25, 0))
def visualize(particles):
np_x = particles['position'] / 1.0
# simple camera transform
if write_to_disk:
# output_dir = create_output_folder(args.out_dir)
output_dir = args.out_dir
os.makedirs(f'{output_dir}/particles')
os.makedirs(f'{output_dir}/previews')
print("Writing 2D vis and binary particle data to folder", output_dir)
else:
output_dir = None
# Use 512 for final simulation/render
R = args.res
mpm = MPMSolver(res=(R, R, R),
size=1,
unbounded=True,
dt_scale=1,
quant=True,
use_g2p2g=True,
support_plasticity=False)
mpm.add_surface_collider(point=(0, 0, 0),
normal=(0, 1, 0),
surface=mpm.surface_slip,
friction=0.5)
mpm.add_surface_collider(point=(0, 1.9, 0),
normal=(0, -1, 0),
surface=mpm.surface_slip,
friction=0.5)
bound = 1.9
os.makedirs(f'{output_dir}/particles')
os.makedirs(f'{output_dir}/previews')
print("Writing 2D vis and binary particle data to folder", output_dir)
tee = Tee(fn=f'{output_dir}/log.txt', mode='w')
print(args)
else:
output_dir = None
# Use 512 for final simulation/render
R = args.res
thickness = 2
mpm = MPMSolver(res=(R, R, R),
size=1,
unbounded=True,
dt_scale=1,
quant=True,
use_g2p2g=False,
support_plasticity=True,
water_density=1.5)
mpm.add_surface_collider(point=(0, 0, 0),
normal=(0, 1, 0),
surface=mpm.surface_slip,
friction=0.5)
mpm.add_surface_collider(point=(0, 1.9, 0),
normal=(0, -1, 0),
surface=mpm.surface_slip,
friction=0.5)
bound = 1.9
import taichi as ti
import numpy as np
import utils
import math
from engine.mpm_solver import MPMSolver
write_to_disk = False
ti.init(arch=ti.cuda) # Try to run on GPU
gui = ti.GUI("Taichi MLS-MPM-99", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(128, 128), unbounded=True)
mpm.add_surface_collider(point=(0, 0),
normal=(0.3, 1),
surface=mpm.surface_slip)
for i in range(3):
mpm.add_cube(lower_corner=[0.2 + i * 0.1, 0.3 + i * 0.1],
cube_size=[0.1, 0.1],
material=MPMSolver.material_elastic)
for frame in range(500):
mpm.step(8e-3)
if frame < 100:
mpm.add_cube(lower_corner=[0.1, 0.4],
cube_size=[0.01, 0.05],
velocity=[1, 0],
material=MPMSolver.material_sand)
if 10 < frame < 100:
mpm.add_cube(lower_corner=[0.3, 0.7],
import taichi as ti
import numpy as np
import utils
from engine.mpm_solver import MPMSolver
write_to_disk = False
# Try to run on GPU
ti.init(arch=ti.cuda, device_memory_GB=3.0)
gui = ti.GUI("Taichi Elements", res=512, background_color=0x112F41)
mpm = MPMSolver(res=(64, 64, 64), size=1)
triangles = np.fromfile('suzanne.npy', dtype=np.float32)
triangles = np.reshape(triangles, (len(triangles) // 9, 9)) * 0.306 + 0.501
mpm.add_mesh(triangles=triangles,
material=MPMSolver.material_elastic,
color=0xFFFF00)
mpm.set_gravity((0, -20, 0))
for frame in range(1500):
mpm.step(4e-3)
particles = mpm.particle_info()
np_x = particles['position'] / 1.0
# simple camera transform
screen_x = ((np_x[:, 0] + np_x[:, 2]) / 2**0.5) - 0.2
screen_y = (np_x[:, 1])
np_x = particles['position'] / 1.0
# simple camera transform
screen_x = np_x[:, 0]
screen_y = np_x[:, 1]
screen_pos = np.stack([screen_x, screen_y], axis=-1)
gui.circles(screen_pos, radius=0.8, color=particles['color'])
gui.show()
# Use 512 for final simulation/render
R = 64
mpm = MPMSolver(res=(R, R, R), size=1, unbounded=True, dt_scale=0.5, E_scale=8, max_num_particles=max_num_particles)
mpm.add_surface_collider(point=(0, 0, 0),
normal=(0, 1, 0),
surface=mpm.surface_slip,
friction=3.5)
mpm.set_gravity((0, -25, 0))
counter = 0
start_t = time.time()
addParticlesCount = 2000
for frame in range(15000):
print(f'frame {frame}')