IPC Integrator

class warp_ipc.ipc_integrator.IPCIntegrator(device: str = 'cuda:0', raise_error: bool = False)

Bases: Integrator

The ABD-IPC integrator.

ENERGY_NAMES = ['inertia', 'kinematic_constraint', 'body_force', 'rigidity', 'cloth_elastic', 'vol_elastic', 'barrier', 'friction', 'damping']

class ProfileStatistics

Bases: object

property current_newton_iter_data

property current_timestep_data

property full_json

new_newton_iter()

new_timestep()

record_iter_timer(timer: Profiler)

record_timestep_timer(timer: Profiler)

absolutize(model: ASRModel, x: array) → None

add_cloth_elastic_hess(model: ASRModel, x: array, y: array, scale: float, project_pd: bool)

add_rigidity_hess(model: ASRModel, x: array, y: array, scale: float, project_pd: bool)

add_vol_elastic_hess(model: ASRModel, x: array, y: array, scale: float, project_pd: bool)

advance_func(model: ASRModel, dt: float = 0.01, control: Control | None = None, enable_debug_check: bool = False) → Tuple[int, array, array]

advection(model: ASRModel, dt, x, y) → None

backward(model: ASRModel, dt: float, xn, vn, x, v, sm_damping: BsrMatrix | None = None) → None

check_grad(info: str, grad: array, check_num: int = 8, check_start_index: int = 0) → None

clamp_search_direction(model: ASRModel, y: array, direction: array) → None

diff_test(model: ASRModel, dt: float, x, y, cdw, cdw_n, direction_x: array, sys_dir: array, sm_damping: BsrMatrix | None, energy_name: str, eps: float = 1e-07)

property dx_div_dv_scale

get_hess_to_damp(model: ASRModel, dt: float, x: array, y: array, sm_damping: BsrMatrix) → None

grad_IP(model: ASRModel, dt: float, x: array, y: array, cdw: CollisionData, cdw_n: CollisionData, affine_gradient_y: array, soft_gradient_x: array, sm_damping: BsrMatrix | None = None, enable_inertia_energy: bool = True, enable_kinematic_constraint_energy: bool = True, enable_body_force_energy: bool = True, enable_rigidity_energy: bool = True, enable_cloth_elastic_energy: bool = True, enable_vol_elastic_energy: bool = True, enable_barrier_energy: bool = True, enable_friction_energy: bool = True, enable_damping_energy: bool = True) → None

hess_IP(model: ASRModel, dt: float, x: array, y: array, cdw: CollisionData, cdw_n: CollisionData, sm: BsrMatrix, sm_damping: BsrMatrix | None = None, project_pd: bool = True, enable_inertia_energy: bool = True, enable_kinematic_constraint_energy: bool = True, enable_body_force_energy: bool = True, enable_rigidity_energy: bool = True, enable_cloth_elastic_energy: bool = True, enable_vol_elastic_energy: bool = True, enable_barrier_energy: bool = True, enable_friction_energy: bool = True, enable_damping_energy: bool = True) → None

property last_step_time: float

simulate(model: ASRModel, dt: float | None = None, control: Control | None = None)

Simulate the model for a given time step using the given control input.

Parameters:

• model (Model) – The model to simulate.

• state_in (State) – The input state.

• state_out (State) – The output state.

• dt (float) – The time step (typically in seconds).

• control (Control) – The control input. Defaults to None which means the control values from the Model are used.

step_forward(model: ASRModel, x0: array, y0: array, x: array, y: array) → None

step_forward_with_alphas(model: ASRModel, x0: array, y0: array, x: array, y: array) → None

step_forward_with_consistent_alpha(model: ASRModel, x0: array, y0: array, x: array, y: array) → None

val_IP(model, dt: float, x: array, y: array, cdw: CollisionData, cdw_n: CollisionData, sm_damping: BsrMatrix | None = None, enforce_reduce_each: bool = True, enable_inertia_energy: bool = True, enable_kinematic_constraint_energy: bool = True, enable_body_force_energy: bool = True, enable_rigidity_energy: bool = True, enable_cloth_elastic_energy: bool = True, enable_vol_elastic_energy: bool = True, enable_barrier_energy: bool = True, enable_friction_energy: bool = True, enable_damping_energy: bool = True) → None