Solvers (求解器)#

Solvers 是 Genesis 中的核心物理计算引擎。每个 solver 都实现了一种特定的物理仿真方法，针对不同类型的材料和现象进行了优化。

可用的 Solvers#

Solver

Method (方法)

Use Cases (应用场景)

RigidSolver

Rigid body dynamics (刚体动力学)

Robots (机器人), articulated bodies (铰接体), rigid objects (刚体对象)

MPMSolver

Material Point Method (物质点法)

Deformables (可变形体), granular (颗粒材料), viscous materials (粘性材料)

FEMSolver

Finite Element Method (有限元法)

Elastic/plastic deformable solids (弹性/塑性可变形固体)

PBDSolver

Position Based Dynamics (基于位置的动力学)

Cloth (布料), soft bodies (软体), particles (粒子)

SPHSolver

Smoothed Particle Hydrodynamics (光滑粒子流体动力学)

Fluids (流体), liquids (液体)

SFSolver

String/Fiber dynamics (绳/纤维动力学)

Ropes (绳索), cables (缆线), hair (头发)

ToolSolver

Kinematic constraints (运动学约束)

Tools (工具), end-effectors (末端执行器)

Solver 基类#

所有 solvers 都继承自 Solver 基类，该基类定义了接口：

class Solver:
    def build(self):
        """Initialize solver resources."""
        pass

    def reset(self, envs_idx=None):
        """Reset solver state."""
        pass

    def step(self):
        """Advance physics by one substep."""
        pass

Solver 组件#

多 Solver 仿真#

Genesis 支持在单个场景中组合多个 solvers：

import genesis as gs

gs.init()
scene = gs.Scene()

# Rigid robot
robot = scene.add_entity(gs.morphs.URDF(file="robot.urdf"))

# Soft object (MPM)
soft = scene.add_entity(
    gs.morphs.Box(pos=(0.5, 0, 0.5)),
    material=gs.materials.MPM.Elastic(),
)

# Cloth (PBD)
cloth = scene.add_entity(
    gs.morphs.Mesh(file="cloth.obj"),
    material=gs.materials.PBD.Cloth(),
)

scene.build()

# All solvers step together
for i in range(1000):
    scene.step()

GPU 加速#

所有 solvers 都通过 Taichi 利用 GPU 加速：

  • Parallel computation across particles/elements (跨粒子/元素的并行计算)

  • Efficient memory management (高效的内存管理)

  • Batched simulation for multiple environments (多环境的批处理仿真)

另请参阅#