def test_constantforce():
direction = torch.randn(3)
magnitude = 10.0
force = ConstantForce(direction, magnitude, starttime=0.5, endtime=1.0)
assert torch.allclose(force.apply(0.1), torch.zeros(3))
assert torch.allclose(force.apply(1.1), torch.zeros(3))
assert torch.allclose(force.apply(0.5), direction * magnitude)
assert torch.allclose(force.apply(0.9), direction * magnitude)
friction_coefficient=float(fric[0]),
restitution=float(elas[0]),
# linear_velocity=torch.tensor(linear_velocity[i], device=device),
# angular_velocity=torch.tensor(angular_velocity[i], device=device),
)
# inds = body_gt.vertices.argmin(1)
# application_points = list(inds.view(-1).detach().cpu().numpy())
# print("Est app points:", application_points)
application_points = [force_application_points[0]]
# print("True app points:", application_points)
# Add a force
force = ConstantForce(
magnitude=force_magnitude[0],
direction=torch.from_numpy(force_direction[0]).float().to(device),
starttime=0.0,
endtime=0.1,
device=device,
)
body_gt.add_external_force(force,
application_points=application_points)
# Add gravity
gravity = ConstantForce(
magnitude=10.0,
direction=torch.tensor([0, -1, 0]),
device=device,
)
body_gt.add_external_force(gravity)
sim_gt = Simulator([body_gt])
# application_points = [
# int(v)
# for v in torch.randint(
# vertices.shape[1], (max(1, torch.randint(vertices.shape[1], (1,))),)
# )
# ]
inds = vertices.argmin(1)
application_points = list(inds.view(-1).detach().cpu().numpy())
application_points = [application_points[1]]
# Add an impulse
if impulse_magnitude > 0:
impulse = ConstantForce(
magnitude=impulse_magnitude,
direction=torch.from_numpy(impulse_direction),
starttime=0.0,
endtime=0.1,
device=device,
)
body.add_external_force(impulse,
application_points=application_points)
# Add gravity
if args.gravity:
gravity = ConstantForce(
magnitude=args.gravity_magnitude / len(vertices[0]),
direction=torch.tensor([0, -1, 0]),
device=device,
)
body.add_external_force(gravity)
position = torch.tensor([0.0, 4.0, 0.0], dtype=torch.float32, device=device)
orientation = torch.tensor([1.0, 0.0, 0.0, 0.0], dtype=torch.float32, device=device)
body = RigidBody(
vertices[0],
position=position,
orientation=orientation,
masses=masses,
restitution=0.5,
)
# Create a force that applies gravity (g = 10 metres / second^2).
# gravity = Gravity(device=device)
force_magnitude = 10.0 # / vertices.shape[-2]
gravity = ConstantForce(
magnitude=force_magnitude,
direction=torch.tensor([0.0, -1.0, 0.0]),
device=device,
)
# Add this force to the body.
body.add_external_force(gravity)
sim_duration = 2.0
fps = 30
sim_substeps = 32
dtime = (1 / 30) / sim_substeps
sim_steps = int(sim_duration / dtime)
render_every = sim_substeps
# Initialize the simulator with the body at the origin.
sim = Simulator(bodies=[body], engine=SemiImplicitEulerWithContacts(), dtime=dtime,)
[1.0, -1.0, 1.0],
[1.0, -1.0, -1.0],
[1.0, 1.0, -1.0],
[-1.0, 1.0, 1.0],
[-1.0, -1.0, 1.0],
[-1.0, -1.0, -1.0],
[-1.0, 1.0, -1.0],
])
position = torch.tensor([2.0, 2.0, 2.0])
orientation = torch.tensor([1.0, 0.0, 0.0, 0.0])
cube = RigidBody(cube_verts + 1,
position=position,
orientation=orientation)
force_magnitude = 10.0 # / cube_verts.shape[0]
force_direction = torch.tensor([0.0, -1.0, 0.0])
gravity = ConstantForce(magnitude=force_magnitude,
direction=force_direction)
cube.add_external_force(gravity)
# sim = Simulator([cube], engine=EulerIntegratorWithContacts())
sim_substeps = 32
dtime = (1 / 30) / sim_substeps
sim = Simulator([cube],
engine=SemiImplicitEulerWithContacts(),
dtime=dtime)
# import numpy as np
# from mpl_toolkits.mplot3d import Axes3D
# import matplotlib.pyplot as plt
# fig = plt.figure()
# ax = fig.add_subplot(111, projection='3d')
1, faces.shape[1], 2, 1, dtype=torch.float32, device=device),
torch.zeros(
1, faces.shape[1], 2, 1, dtype=torch.float32, device=device),
),
dim=-1,
)
masses = torch.nn.Parameter(
0.1 *
torch.ones(vertices.shape[1], dtype=vertices.dtype, device=device),
requires_grad=True,
)
body = RigidBody(vertices[0], masses=masses)
# Create a force that applies gravity (g = 10 metres / second^2).
# gravity = Gravity(device=device)
gravity = ConstantForce(direction=torch.tensor([0.0, -1.0, 0.0]),
device=device)
# Add this force to the body.
body.add_external_force(gravity, application_points=[0, 1])
# Initialize the simulator with the body at the origin.
sim = Simulator([body])
# Initialize the renderer.
renderer = SoftRenderer(camera_mode="look_at", device=device)
camera_distance = 8.0
elevation = 30.0
azimuth = 0.0
renderer.set_eye_from_angles(camera_distance, elevation, azimuth)
# Run the simulation.
# application_points = [force_application_points[0]]
# # Add a force
# force = ConstantForce(
# magnitude=force_magnitude[0],
# direction=torch.from_numpy(force_direction[0]).float().to(device),
# starttime=0.0,
# endtime=0.1,
# device=device,
# )
# body_gt.add_external_force(force, application_points=application_points)
# Add gravity
gravity = ConstantForce(
magnitude=10.0,
direction=torch.tensor([0, -1, 0]),
device=device,
)
body_gt.add_external_force(gravity)
sim_gt = Simulator([body_gt],
dtime=sim_dtime,
engine=SemiImplicitEulerWithContacts())
# 2 seconds; 30 fps
imgs_gt = []
with torch.no_grad():
for t in range(sim_steps):
sim_gt.step()
if t % render_every == 0:
rgba = renderer.forward(
mass_per_vertex * torch.ones(
vertices_gt.shape[1], dtype=vertices_gt.dtype, device=device),
requires_grad=False,
)
body_gt = RigidBody(
vertices_gt[0],
masses=masses_gt,
position=position_gt,
orientation=orientation_gt,
)
# Create a force that applies gravity (g = 10 metres / second^2).
# normalized_magnitude_gt = args.force_magnitude / vertices_gt.shape[-2]
gravity_gt = ConstantForce(
direction=torch.tensor([0.0, -1.0, 0.0]),
magnitude=args.force_magnitude,
device=device,
)
# Add this force to the body.
inds = vertices_gt.argmin(-2)[0]
application_points = list(inds.view(-1).detach().cpu().numpy())
body_gt.add_external_force(gravity_gt,
application_points=application_points)
# Initialize the simulator with the body at the origin.
sim_gt = Simulator([body_gt])
# Initialize the renderer.
renderer = DIBRenderer(128, 128, mode="VertexColor")
camera_distance = 8.0