仿真器 (Simulator)#

class genesis.engine.simulator.Simulator(scene: Scene, options: SimOptions, coupler_options: BaseCouplerOptions, tool_options: ToolOptions, rigid_options: RigidOptions, mpm_options: MPMOptions, sph_options: SPHOptions, fem_options: FEMOptions, sf_options: SFOptions, pbd_options: PBDOptions)[source]#

A simulator is a scene-level simulation manager, which manages all simulation-related operations in the scene, including multiple solvers and the inter-solver coupler.

Parameters:

  • scene (gs.Scene) – The scene object that the simulator is associated with.

  • options (gs.SimOptions) – A SimOptions object that contains all simulator-level options.

  • coupler_options (gs.CouplerOptions) – A CouplerOptions object that contains all the options for the coupler.

  • tool_options (gs.ToolOptions) – A ToolOptions object that contains all the options for the ToolSolver.

  • rigid_options (gs.RigidOptions) – A RigidOptions object that contains all the options for the RigidSolver.

  • mpm_options (gs.MPMOptions) – An MPMOptions object that contains all the options for the MPMSolver.

  • sph_options (gs.SPHOptions) – An SPHOptions object that contains all the options for the SPHSolver.

  • fem_options (gs.FEMOptions) – An FEMOptions object that contains all the options for the FEMSolver.

  • sf_options (gs.SFOptions) – An SFOptions object that contains all the options for the SFSolver.

  • pbd_options (gs.PBDOptions) – A PBDOptions object that contains all the options for the PBDSolver.

build()[source]#
destroy()[source]#
reset(state: SimState, envs_idx=None)[source]#
reset_grad()[source]#
f_global_to_f_local(f_global)[source]#
f_local_to_s_local(f_local)[source]#
f_global_to_s_local(f_global)[source]#
f_global_to_s_global(f_global)[source]#
step(in_backward=False)[source]#
process_input(in_backward=False)[source]#

setting _tgt state using external commands note that external inputs are given at step level, not substep

process_input_grad()[source]#
substep(f)[source]#
sub_step_grad(f)[source]#
substep_pre_coupling(f)[source]#
substep_pre_coupling_grad(f)[source]#
substep_post_coupling(f)[source]#
substep_post_coupling_grad(f)[source]#
add_grad_from_state(state)[source]#
collect_output_grads()[source]#

Collect gradients from downstream queried states.

save_ckpt()[source]#

This function refreshes the gpu memory (copy the last frame to the first frame in the local memory), and then saves the checkpoint. This function is called every substeps_local steps, which means it’s called only once per step when requires_grad is True.

load_ckpt()[source]#
get_state()[source]#
set_gravity(gravity, envs_idx=None)[source]#
property dt: float#

The time duration for each simulation step.

property substeps#

The number of substeps per simulation step.

property scene#

The scene object that the simulator is associated with.

property gravity#

The gravity vector.

property requires_grad#

Whether the simulator requires gradients.

property n_entities: int#

The number of entities in the simulator.

property entities#

The list of entities in the simulator.

property substeps_local#

The number of substeps stored in local memory.

property cur_substep_global#

The current substep of the simulation.

property cur_substep_local#

The current substep of the simulation in local memory.

property cur_step_local#

The current step of the simulation in local memory.

property cur_step_global#

The current step of the simulation.

property cur_t#

The current time of the simulation.

property coupler#

The coupler object that manages the inter-solver coupling.

property solvers#

The list of solvers in the simulator.

property active_solvers#

The list of active solvers in the simulator.