Speedup contact points reduction

python/rainbow/simulators/prox_soft_bodies/collision_detection.py

@@ -6,7 +6,7 @@
 from rainbow.util.timer import Timer
 import numpy as np
 from itertools import combinations
-from numba import cuda
+from numba import cuda, jit
 
 import rainbow.cuda.collision_detection.compute_contacts as CUDA_COMPUTE_CONTACTS
 
@@ -488,6 +488,31 @@ def _contact_determination(overlaps, engine, stats, debug_on):
         stats["contact_determination"] = contact_determination_timer.elapsed
     return stats
 
+def _cp_unique_id(cp):
+    # 这是一个简单的标识生成器，它基于bodyA, bodyB和p来生成唯一的标识
+    return (cp.bodyA, cp.bodyB, tuple(cp.p))
+
+def _optimize_contact_reduction(engine, stats, debug_on):
+    if debug_on:
+        reduction_timer = Timer("contact_point_reduction", 8)
+        reduction_timer.start()
+
+    seen_ids = set()
+    reduced_list = []
+
+    for cp in engine.contact_points:
+        uid = _cp_unique_id(cp)
+        if uid not in seen_ids:
+            reduced_list.append(cp)
+            seen_ids.add(uid)
+
+    engine.contact_points = reduced_list
+
+    if debug_on:
+        reduction_timer.end()
+        stats["contact_point_reduction"] = reduction_timer.elapsed
+
+    return stats
 
 def _contact_reduction(engine, stats, debug_on):
     """
@@ -505,6 +530,10 @@ def _contact_reduction(engine, stats, debug_on):
      :param debug_on:    Boolean flag for toggling debug (aka profiling) info on and off.
      :return:            A dictionary with profiling and timing measurements.
     """
+
+    if engine.params.speedup:
+        return _optimize_contact_reduction(engine, stats, debug_on)
+
     reduction_timer = None
     if debug_on:
         reduction_timer = Timer("contact_point_reduction", 8)

python/rainbow/simulators/prox_soft_bodies/types.py

@@ -253,6 +253,7 @@ def __init__(self):
         )
         self.resolution = 64  # The number of grid cells along each axis in the signed distance fields.
         self.use_gpu = True  # Boolean flag that indicates if we should use GPU computing or not.
+        self.speedup = True  
 
 
 class Engine:

python/soft_body_demo/soft_body_beam_1.py

@@ -5,9 +5,13 @@
 def create_scene(material=None, model='SVK', T = 10.0, usd_save_path="soft_body_beam_default.usda", time_step=0.0001):
     scene = API.create_engine()
     scene.params.time_step = time_step
+
     viewer = VIEWER.Viewer()
 
     create_soft_material(scene, material, model) 
+
+    scene.materials['soft_mat1'].c = 0.2
+
     create_soft_beam(scene, (12, 3, 3, 4.0, 1.0, 1.0))
     create_wall(scene)
 
@@ -39,7 +43,7 @@ def run():
     ]
 
     for material in materials:
-        create_scene(material=material['material'], model=material['model'], T = 2.0, usd_save_path=f"soft_body_beam_1_{material['model']}.usda", time_step=material['time_step'])
+        create_scene(material=material['material'], model=material['model'], T = 1.0, usd_save_path=f"soft_body_beam_1_{material['model']}.usda", time_step=material['time_step'])
 
     # create_scene(material='rubber', model='SNH', usd_save_path=f"soft_body_beam_snh.usda")
     # create_scene(material='rubber', model='COR', usd_save_path=f"soft_body_beam_cor.usda")

python/soft_body_demo/soft_body_sim_helper.py

@@ -43,8 +43,9 @@ def create_soft_material(engine, name=None, model_name='SVK', friction=0.5):
     API.create_surfaces_interaction(engine,'soft_mat1','soft_mat1', friction)
 
 # create the soft beam into a scene
-def create_soft_beam(engine, geo, gravity=-10, material='soft_mat1', name='beam'):
+def create_soft_beam(engine, geo, gravity=-10, material='soft_mat1', name='beam', y_offset=0.0):
     V_beam, T_beam = VM.create_beam(*geo) # geometry 
+    V_beam[:,1] += y_offset
     API.create_soft_body(engine, name, V_beam, T_beam)
     API.set_type(engine, name, "Free")
     API.set_gravity(engine, name, (0,gravity,0))

python/soft_body_demo/soft_body_surface.py

@@ -6,9 +6,10 @@ def create_scene(material=None, model='SVK', T = 10.0, usd_save_path="soft_body_
     viewer = VIEWER.Viewer()
 
     create_soft_material(scene, material, model) 
+    scene.materials['soft_mat1'].c = 0.5
 
-    create_soft_beam(scene, (2, 2, 2, 0.5, 0.5, 0.5), name="cube")
-    create_soft_beam(scene, (20, 2, 10, 4, 0.05, 4), name="surface")
+    create_soft_beam(scene, (4, 4, 4, 0.5, 0.5, 0.5), name="cube", y_offset=0.275)
+    create_soft_beam(scene, (10, 2, 10, 4, 0.05, 4), name="surface")
 
     API.create_dirichlet_conditions(scene, 'surface', lambda x: x[0] + 1.9)
     API.create_dirichlet_conditions(scene, 'surface', lambda x: 1.9 - x[0])