Scene

genesis.Scene 对象封装了仿真环境中的所有组件，包括 simulator（包含多个物理 solver）、entities 和 visualizer（控制 viewer 和所有 cameras）。 基本上，所有操作都在 scene 内部完成。

• 场景 (Scene)
  • Scene
    • Scene.destroy()
    • Scene.add_entity()
    • Scene.add_stage()
    • Scene.add_mesh_light()
    • Scene.add_light()
    • Scene.add_sensor()
    • Scene.start_recording()
    • Scene.add_camera()
    • Scene.add_emitter()
    • Scene.add_force_field()
    • Scene.build()
    • Scene.reset()
    • Scene.get_state()
    • Scene.step()
    • Scene.stop_recording()
    • Scene.draw_debug_line()
    • Scene.draw_debug_arrow()
    • Scene.draw_debug_frame()
    • Scene.draw_debug_frames()
    • Scene.draw_debug_mesh()
    • Scene.draw_debug_sphere()
    • Scene.draw_debug_spheres()
    • Scene.draw_debug_box()
    • Scene.draw_debug_points()
    • Scene.draw_debug_path()
    • Scene.render_all_cameras()
    • Scene.clear_debug_object()
    • Scene.clear_debug_objects()
    • Scene.dump_ckpt_to_numpy()
    • Scene.save_checkpoint()
    • Scene.load_checkpoint()
    • Scene.uid
    • Scene.dt
    • Scene.t
    • Scene.substeps
    • Scene.requires_grad
    • Scene.is_built
    • Scene.show_FPS
    • Scene.gravity
    • Scene.viewer
    • Scene.visualizer
    • Scene.sim
    • Scene.cur_t
    • Scene.solvers
    • Scene.active_solvers
    • Scene.entities
    • Scene.entity_names
    • Scene.get_entity()
    • Scene.emitters
    • Scene.tool_solver
    • Scene.rigid_solver
    • Scene.mpm_solver
    • Scene.sph_solver
    • Scene.fem_solver
    • Scene.pbd_solver
    • Scene.segmentation_idx_dict
• 仿真器 (Simulator)
  • Simulator
    • Simulator.build()
    • Simulator.destroy()
    • Simulator.reset()
    • Simulator.reset_grad()
    • Simulator.f_global_to_f_local()
    • Simulator.f_local_to_s_local()
    • Simulator.f_global_to_s_local()
    • Simulator.f_global_to_s_global()
    • Simulator.step()
    • Simulator.process_input()
    • Simulator.process_input_grad()
    • Simulator.substep()
    • Simulator.sub_step_grad()
    • Simulator.substep_pre_coupling()
    • Simulator.substep_pre_coupling_grad()
    • Simulator.substep_post_coupling()
    • Simulator.substep_post_coupling_grad()
    • Simulator.add_grad_from_state()
    • Simulator.collect_output_grads()
    • Simulator.save_ckpt()
    • Simulator.load_ckpt()
    • Simulator.get_state()
    • Simulator.set_gravity()
    • Simulator.dt
    • Simulator.substeps
    • Simulator.scene
    • Simulator.gravity
    • Simulator.requires_grad
    • Simulator.n_entities
    • Simulator.entities
    • Simulator.substeps_local
    • Simulator.cur_substep_global
    • Simulator.cur_substep_local
    • Simulator.cur_step_local
    • Simulator.cur_step_global
    • Simulator.cur_t
    • Simulator.coupler
    • Simulator.solvers
    • Simulator.active_solvers