warp-lang 1.5.1__py3-none-macosx_10_13_universal2.whl → 1.6.0__py3-none-macosx_10_13_universal2.whl

warp/sim/model.py

@@ -591,6 +591,7 @@ class Model:
         joint_attach_ke (float): Joint attachment force stiffness (used by :class:`SemiImplicitIntegrator`)
         joint_attach_kd (float): Joint attachment force damping (used by :class:`SemiImplicitIntegrator`)
 
+        soft_contact_radius (float): Contact radius used for self-collisions in the VBD integrator.
         soft_contact_margin (float): Contact margin for generation of soft contacts
         soft_contact_ke (float): Stiffness of soft contacts (used by the Euler integrators)
         soft_contact_kd (float): Damping of soft contacts (used by the Euler integrators)
@@ -761,6 +762,7 @@ class Model:
         self.joint_attach_ke = 1.0e3
         self.joint_attach_kd = 1.0e2
 
+        self.soft_contact_radius = 0.2
         self.soft_contact_margin = 0.2
         self.soft_contact_ke = 1.0e3
         self.soft_contact_kd = 10.0
@@ -1046,6 +1048,8 @@ class Model:
     @property
     def soft_contact_max(self):
         """Maximum number of soft contacts that can be registered"""
+        if self.soft_contact_particle is None:
+            return 0
         return len(self.soft_contact_particle)
 
 
@@ -1747,8 +1751,8 @@ class ModelBuilder:
         mode: int = JOINT_MODE_FORCE,
         limit_lower: float = -2 * math.pi,
         limit_upper: float = 2 * math.pi,
-        limit_ke: float = default_joint_limit_ke,
-        limit_kd: float = default_joint_limit_kd,
+        limit_ke: float = None,
+        limit_kd: float = None,
         linear_compliance: float = 0.0,
         angular_compliance: float = 0.0,
         armature: float = 1e-2,
@@ -1769,8 +1773,8 @@ class ModelBuilder:
             target_kd: The damping of the joint target
             limit_lower: The lower limit of the joint
             limit_upper: The upper limit of the joint
-            limit_ke: The stiffness of the joint limit
-            limit_kd: The damping of the joint limit
+            limit_ke: The stiffness of the joint limit (None to use the default value :attr:`default_joint_limit_ke`)
+            limit_kd: The damping of the joint limit (None to use the default value :attr:`default_joint_limit_kd`)
             linear_compliance: The linear compliance of the joint
             angular_compliance: The angular compliance of the joint
             armature: Artificial inertia added around the joint axis
@@ -1788,6 +1792,9 @@ class ModelBuilder:
         if child_xform is None:
             child_xform = wp.transform()
 
+        limit_ke = limit_ke if limit_ke is not None else self.default_joint_limit_ke
+        limit_kd = limit_kd if limit_kd is not None else self.default_joint_limit_kd
+
         action = 0.0
         if target is None and mode == JOINT_MODE_TARGET_POSITION:
             action = 0.5 * (limit_lower + limit_upper)
@@ -1834,8 +1841,8 @@ class ModelBuilder:
         mode: int = JOINT_MODE_FORCE,
         limit_lower: float = -1e4,
         limit_upper: float = 1e4,
-        limit_ke: float = default_joint_limit_ke,
-        limit_kd: float = default_joint_limit_kd,
+        limit_ke: float = None,
+        limit_kd: float = None,
         linear_compliance: float = 0.0,
         angular_compliance: float = 0.0,
         armature: float = 1e-2,
@@ -1856,8 +1863,8 @@ class ModelBuilder:
             target_kd: The damping of the joint target
             limit_lower: The lower limit of the joint
             limit_upper: The upper limit of the joint
-            limit_ke: The stiffness of the joint limit
-            limit_kd: The damping of the joint limit
+            limit_ke: The stiffness of the joint limit (None to use the default value :attr:`default_joint_limit_ke`)
+            limit_kd: The damping of the joint limit (None to use the default value :attr:`default_joint_limit_ke`)
             linear_compliance: The linear compliance of the joint
             angular_compliance: The angular compliance of the joint
             armature: Artificial inertia added around the joint axis
@@ -1875,6 +1882,9 @@ class ModelBuilder:
         if child_xform is None:
             child_xform = wp.transform()
 
+        limit_ke = limit_ke if limit_ke is not None else self.default_joint_limit_ke
+        limit_kd = limit_kd if limit_kd is not None else self.default_joint_limit_kd
+
         action = 0.0
         if target is None and mode == JOINT_MODE_TARGET_POSITION:
             action = 0.5 * (limit_lower + limit_upper)
@@ -2523,7 +2533,7 @@ class ModelBuilder:
                 last_dynamic_body_name = self.body_name[last_dynamic_body] if last_dynamic_body > -1 else "world"
                 if verbose:
                     print(
-                        f'Remove fixed joint {joint["name"]} between {parent_name} and {child_name}, '
+                        f"Remove fixed joint {joint['name']} between {parent_name} and {child_name}, "
                         f"merging {child_name} into {last_dynamic_body_name}"
                     )
                 child_id = body_data[child_body]["original_id"]
@@ -2775,7 +2785,7 @@ class ModelBuilder:
                 c = np.cross(normal, (0.0, 1.0, 0.0))
                 angle = np.arcsin(np.linalg.norm(c))
                 axis = np.abs(c) / np.linalg.norm(c)
-                rot = wp.quat_from_axis_angle(axis, angle)
+                rot = wp.quat_from_axis_angle(wp.vec3(*axis), wp.float32(angle))
         scale = wp.vec3(width, length, 0.0)
 
         return self._add_shape(
@@ -3501,11 +3511,11 @@ class ModelBuilder:
         i: int,
         j: int,
         k: int,
-        tri_ke: float = default_tri_ke,
-        tri_ka: float = default_tri_ka,
-        tri_kd: float = default_tri_kd,
-        tri_drag: float = default_tri_drag,
-        tri_lift: float = default_tri_lift,
+        tri_ke: float = None,
+        tri_ka: float = None,
+        tri_kd: float = None,
+        tri_drag: float = None,
+        tri_lift: float = None,
     ) -> float:
         """Adds a triangular FEM element between three particles in the system.
 
@@ -3525,6 +3535,11 @@ class ModelBuilder:
             between the particles in their initial configuration.
         """
         # TODO: Expose elastic parameters on a per-element basis
+        tri_ke = tri_ke if tri_ke is not None else self.default_tri_ke
+        tri_ka = tri_ka if tri_ka is not None else self.default_tri_ka
+        tri_kd = tri_kd if tri_kd is not None else self.default_tri_kd
+        tri_drag = tri_drag if tri_drag is not None else self.default_tri_drag
+        tri_lift = tri_lift if tri_lift is not None else self.default_tri_lift
 
         # compute basis for 2D rest pose
         p = self.particle_q[i]
@@ -3705,8 +3720,8 @@ class ModelBuilder:
         k: int,
         l: int,
         rest: float = None,
-        edge_ke: float = default_edge_ke,
-        edge_kd: float = default_edge_kd,
+        edge_ke: float = None,
+        edge_kd: float = None,
     ):
         """Adds a bending edge element between four particles in the system.
 
@@ -3727,6 +3742,9 @@ class ModelBuilder:
             winding: (i, k, l), (j, l, k).
 
         """
+        edge_ke = edge_ke if edge_ke is not None else self.default_edge_ke
+        edge_kd = edge_kd if edge_kd is not None else self.default_edge_kd
+
         # compute rest angle
         if rest is None:
             x1 = self.particle_q[i]
@@ -3834,17 +3852,17 @@ class ModelBuilder:
         fix_right: bool = False,
         fix_top: bool = False,
         fix_bottom: bool = False,
-        tri_ke: float = default_tri_ke,
-        tri_ka: float = default_tri_ka,
-        tri_kd: float = default_tri_kd,
-        tri_drag: float = default_tri_drag,
-        tri_lift: float = default_tri_lift,
-        edge_ke: float = default_edge_ke,
-        edge_kd: float = default_edge_kd,
+        tri_ke: float = None,
+        tri_ka: float = None,
+        tri_kd: float = None,
+        tri_drag: float = None,
+        tri_lift: float = None,
+        edge_ke: float = None,
+        edge_kd: float = None,
         add_springs: bool = False,
-        spring_ke: float = default_spring_ke,
-        spring_kd: float = default_spring_kd,
-        particle_radius: float = default_particle_radius,
+        spring_ke: float = None,
+        spring_kd: float = None,
+        particle_radius: float = None,
     ):
         """Helper to create a regular planar cloth grid
 
@@ -3866,6 +3884,16 @@ class ModelBuilder:
             fix_top: Make the top-most edge of particles kinematic
             fix_bottom: Make the bottom-most edge of particles kinematic
         """
+        tri_ke = tri_ke if tri_ke is not None else self.default_tri_ke
+        tri_ka = tri_ka if tri_ka is not None else self.default_tri_ka
+        tri_kd = tri_kd if tri_kd is not None else self.default_tri_kd
+        tri_drag = tri_drag if tri_drag is not None else self.default_tri_drag
+        tri_lift = tri_lift if tri_lift is not None else self.default_tri_lift
+        edge_ke = edge_ke if edge_ke is not None else self.default_edge_ke
+        edge_kd = edge_kd if edge_kd is not None else self.default_edge_kd
+        spring_ke = spring_ke if spring_ke is not None else self.default_spring_ke
+        spring_kd = spring_kd if spring_kd is not None else self.default_spring_kd
+        particle_radius = particle_radius if particle_radius is not None else self.default_particle_radius
 
         def grid_index(x, y, dim_x):
             return y * dim_x + x
@@ -3968,17 +3996,17 @@ class ModelBuilder:
         density: float,
         edge_callback=None,
         face_callback=None,
-        tri_ke: float = default_tri_ke,
-        tri_ka: float = default_tri_ka,
-        tri_kd: float = default_tri_kd,
-        tri_drag: float = default_tri_drag,
-        tri_lift: float = default_tri_lift,
-        edge_ke: float = default_edge_ke,
-        edge_kd: float = default_edge_kd,
+        tri_ke: float = None,
+        tri_ka: float = None,
+        tri_kd: float = None,
+        tri_drag: float = None,
+        tri_lift: float = None,
+        edge_ke: float = None,
+        edge_kd: float = None,
         add_springs: bool = False,
-        spring_ke: float = default_spring_ke,
-        spring_kd: float = default_spring_kd,
-        particle_radius: float = default_particle_radius,
+        spring_ke: float = None,
+        spring_kd: float = None,
+        particle_radius: float = None,
     ):
         """Helper to create a cloth model from a regular triangle mesh
 
@@ -3999,6 +4027,17 @@ class ModelBuilder:
 
             The mesh should be two manifold.
         """
+        tri_ke = tri_ke if tri_ke is not None else self.default_tri_ke
+        tri_ka = tri_ka if tri_ka is not None else self.default_tri_ka
+        tri_kd = tri_kd if tri_kd is not None else self.default_tri_kd
+        tri_drag = tri_drag if tri_drag is not None else self.default_tri_drag
+        tri_lift = tri_lift if tri_lift is not None else self.default_tri_lift
+        edge_ke = edge_ke if edge_ke is not None else self.default_edge_ke
+        edge_kd = edge_kd if edge_kd is not None else self.default_edge_kd
+        spring_ke = spring_ke if spring_ke is not None else self.default_spring_ke
+        spring_kd = spring_kd if spring_kd is not None else self.default_spring_kd
+        particle_radius = particle_radius if particle_radius is not None else self.default_particle_radius
+
         num_tris = int(len(indices) / 3)
 
         start_vertex = len(self.particle_q)
@@ -4076,9 +4115,11 @@ class ModelBuilder:
         cell_z: float,
         mass: float,
         jitter: float,
-        radius_mean: float = default_particle_radius,
+        radius_mean: float = None,
         radius_std: float = 0.0,
     ):
+        radius_mean = radius_mean if radius_mean is not None else self.default_particle_radius
+
         rng = np.random.default_rng(42)
         for z in range(dim_z):
             for y in range(dim_y):
@@ -4113,11 +4154,11 @@ class ModelBuilder:
         fix_right: bool = False,
         fix_top: bool = False,
         fix_bottom: bool = False,
-        tri_ke: float = default_tri_ke,
-        tri_ka: float = default_tri_ka,
-        tri_kd: float = default_tri_kd,
-        tri_drag: float = default_tri_drag,
-        tri_lift: float = default_tri_lift,
+        tri_ke: float = None,
+        tri_ka: float = None,
+        tri_kd: float = None,
+        tri_drag: float = None,
+        tri_lift: float = None,
     ):
         """Helper to create a rectangular tetrahedral FEM grid
 
@@ -4144,6 +4185,11 @@ class ModelBuilder:
             fix_top: Make the top-most edge of particles kinematic
             fix_bottom: Make the bottom-most edge of particles kinematic
         """
+        tri_ke = tri_ke if tri_ke is not None else self.default_tri_ke
+        tri_ka = tri_ka if tri_ka is not None else self.default_tri_ka
+        tri_kd = tri_kd if tri_kd is not None else self.default_tri_kd
+        tri_drag = tri_drag if tri_drag is not None else self.default_tri_drag
+        tri_lift = tri_lift if tri_lift is not None else self.default_tri_lift
 
         start_vertex = len(self.particle_q)
 
@@ -4235,11 +4281,11 @@ class ModelBuilder:
         k_mu: float,
         k_lambda: float,
         k_damp: float,
-        tri_ke: float = default_tri_ke,
-        tri_ka: float = default_tri_ka,
-        tri_kd: float = default_tri_kd,
-        tri_drag: float = default_tri_drag,
-        tri_lift: float = default_tri_lift,
+        tri_ke: float = None,
+        tri_ka: float = None,
+        tri_kd: float = None,
+        tri_drag: float = None,
+        tri_lift: float = None,
     ):
         """Helper to create a tetrahedral model from an input tetrahedral mesh
 
@@ -4254,6 +4300,12 @@ class ModelBuilder:
             k_lambda: The second elastic Lame parameter
             k_damp: The damping stiffness
         """
+        tri_ke = tri_ke if tri_ke is not None else self.default_tri_ke
+        tri_ka = tri_ka if tri_ka is not None else self.default_tri_ka
+        tri_kd = tri_kd if tri_kd is not None else self.default_tri_kd
+        tri_drag = tri_drag if tri_drag is not None else self.default_tri_drag
+        tri_lift = tri_lift if tri_lift is not None else self.default_tri_lift
+
         num_tets = int(len(indices) / 4)
 
         start_vertex = len(self.particle_q)
@@ -4344,16 +4396,22 @@ class ModelBuilder:
         self,
         normal=None,
         offset=0.0,
-        ke: float = default_shape_ke,
-        kd: float = default_shape_kd,
-        kf: float = default_shape_kf,
-        mu: float = default_shape_mu,
-        restitution: float = default_shape_restitution,
+        ke: float = None,
+        kd: float = None,
+        kf: float = None,
+        mu: float = None,
+        restitution: float = None,
     ):
         """
         Creates a ground plane for the world. If the normal is not specified,
         the up_vector of the ModelBuilder is used.
         """
+        ke = ke if ke is not None else self.default_shape_ke
+        kd = kd if kd is not None else self.default_shape_kd
+        kf = kf if kf is not None else self.default_shape_kf
+        mu = mu if mu is not None else self.default_shape_mu
+        restitution = restitution if restitution is not None else self.default_shape_restitution
+
         if normal is None:
             normal = self.up_vector
         self._ground_params = {