def polar():
R, S = ti.polar_decompose(m[None], dt)
r[None] = R
s[None] = S
m[None] = R @ S
I[None] = R @ R.transpose()
D[None] = S - S.transpose()
def polar():
R, S = ti.polar_decompose(m[None], dt)
r[None] = R
s[None] = S
m[None] = R @ S
I[None] = R @ ti.transposed(R)
D[None] = S - ti.transposed(S)
def p2g(f: ti.i32):
for p in range(0, n_particles):
base = ti.cast(x[f, p] * inv_dx - 0.5, ti.i32)
fx = x[f, p] * inv_dx - ti.cast(base, ti.i32)
w = [
0.5 * ti.sqr(1.5 - fx), 0.75 - ti.sqr(fx - 1),
0.5 * ti.sqr(fx - 0.5)
]
new_F = (ti.Matrix.diag(dim=2, val=1) + dt * C[f, p]) @ F[f, p]
J = ti.determinant(new_F)
if particle_type[p] == 0: # fluid
sqrtJ = ti.sqrt(J)
new_F = ti.Matrix([[sqrtJ, 0], [0, sqrtJ]])
F[f + 1, p] = new_F
r, s = ti.polar_decompose(new_F)
act_id = actuator_id[p]
act = actuation[f, ti.max(0, act_id)] * act_strength
if act_id == -1:
act = 0.0
# ti.print(act)
A = ti.Matrix([[0.0, 0.0], [0.0, 1.0]]) * act
cauchy = ti.Matrix([[0.0, 0.0], [0.0, 0.0]])
mass = 0.0
if particle_type[p] == 0:
mass = 4
cauchy = ti.Matrix([[1.0, 0.0], [0.0, 0.1]]) * (J - 1) * E
else:
mass = 1
cauchy = 2 * mu * (new_F - r) @ ti.transposed(new_F) + \
ti.Matrix.diag(2, la * (J - 1) * J)
cauchy += new_F @ A @ ti.transposed(new_F)
stress = -(dt * p_vol * 4 * inv_dx * inv_dx) * cauchy
affine = stress + mass * C[f, p]
for i in ti.static(range(3)):
for j in ti.static(range(3)):
offset = ti.Vector([i, j])
dpos = (ti.cast(ti.Vector([i, j]), real) - fx) * dx
weight = w[i](0) * w[j](1)
grid_v_in[base + offset].atomic_add(
weight * (mass * v[f, p] + affine @ dpos))
grid_m_in[base + offset].atomic_add(weight * mass)
def p2g(f: ti.i32):
for p in range(n_particles):
base = ti.cast(x[f, p] * inv_dx - 0.5, ti.i32)
fx = x[f, p] * inv_dx - ti.cast(base, ti.i32)
w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1)**2, 0.5 * (fx - 0.5)**2]
new_F = (ti.Matrix.diag(dim=2, val=1) + dt * C[f, p]) @ F[f, p]
F[f + 1, p] = new_F
J = (new_F).determinant()
r, s = ti.polar_decompose(new_F)
cauchy = 2 * mu * (new_F - r) @ new_F.transpose() + \
ti.Matrix.diag(2, la * (J - 1) * J)
stress = -(dt * p_vol * 4 * inv_dx * inv_dx) * cauchy
affine = stress + p_mass * C[f, p]
for i in ti.static(range(3)):
for j in ti.static(range(3)):
offset = ti.Vector([i, j])
dpos = (ti.cast(ti.Vector([i, j]), real) - fx) * dx
weight = w[i](0) * w[j](1)
grid_v_in[f, base + offset] += weight * (p_mass * v[f, p] +
affine @ dpos)
grid_m_in[f, base + offset] += weight * p_mass
def foo():
ti.polar_decompose(m, ti.f32)
def step():
for i, j in grid_v:
grid_v[i, j] = [0, 0]
grid_m[i, j] = 0
# 1. p2g
for p in x:
base = (x[p] * inv_dx - 0.5).cast(int)
fx = x[p] * inv_dx - base.cast(float)
# Quadratic kernels [http://mpm.graphics Eqn. 123, with x=fx, fx-1,fx-2]
w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1)**2, 0.5 * (fx - 0.5)**2]
# 1.1 F update
F[p] = (ti.Matrix.identity(dt=ti.f32, n=2) + dt * C[p]) @ F[p]
r, _ = ti.polar_decompose(F[p])
U, sig, V = ti.svd(F[p])
J[p] = F[p].determinant()
# 1.2 Cauchy Stress
mu = 0
PF = 2 * mu * (F[p] - U @ V.T()) @ F[p].T() + lambda_0 * (
J[p] - 1) * J[p] * ti.Matrix.identity(dt=ti.f32, n=2)
Dinv = 4 * inv_dx * inv_dx
stress = -dt * p_vol * Dinv * PF
# 1.3 affine
affine = stress + p_mass * C[p]
for i, j in ti.static(ti.ndrange(3, 3)):
offset = ti.Vector([i, j])
dpos = (offset.cast(float) - fx) * dx
weight = w[i][0] * w[j][1]
grid_v[base + offset] += weight * (p_mass * v[p] + affine @ dpos)
grid_m[base + offset] += weight * p_mass
# 2. update grad momentum
for i, j in grid_m:
if grid_m[i, j] > 0:
grid_v[i,
j] = (1 / grid_m[i, j]) * grid_v[i,
j] # Momentum to velocity
grid_v[i, j][1] -= dt * 200 # gravity
if i < 3 and grid_v[i, j][0] < 0:
grid_v[i, j][0] = 0 # Boundary conditions
if i > n_grid - 3 and grid_v[i, j][0] > 0: grid_v[i, j][0] = 0
if j < 3 and grid_v[i, j][1] < 0: grid_v[i, j][1] = 0
if j > n_grid - 3 and grid_v[i, j][1] > 0: grid_v[i, j][1] = 0
# 3. g2p
for p in x: # grid to particle (G2P)
base = (x[p] * inv_dx - 0.5).cast(int)
fx = x[p] * inv_dx - base.cast(float)
w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1.0)**2, 0.5 * (fx - 0.5)**2]
new_v = ti.Vector.zero(ti.f32, 2)
new_C = ti.Matrix.zero(ti.f32, 2, 2)
for i, j in ti.static(ti.ndrange(
3, 3)): # loop over 3x3 grid node neighborhood
dpos = ti.Vector([i, j]).cast(float) - fx
g_v = grid_v[base + ti.Vector([i, j])]
weight = w[i][0] * w[j][1]
new_v += weight * g_v
new_C += 4 * inv_dx * weight * g_v.outer_product(dpos)
v[p], C[p] = new_v, new_C
x[p] += dt * v[p]