SPHEntity#

class genesis.engine.entities.sph_entity.SPHEntity(scene, solver, material, morph, surface, particle_size, idx, particle_start)[source]#

Bases: ParticleEntity

SPH-based particle entity.

Parameters:

  • scene (Scene) – The simulation scene.

  • solver (Solver) – The solver handling the simulation logic.

  • material (Material) – Material properties (e.g., density, stiffness).

  • morph (Morph) – Morphological configuration.

  • surface (Surface) – Surface constraints or geometry.

  • particle_size (float) – The size of each particle.

  • idx (int) – Index of this entity in the scene.

  • particle_start (int) – Start index for the particles belonging to this entity.

init_sampler()[source]#

Initialize the particle sampler based on the material’s sampling method.

Raises:

GenesisException – If the sampler is not one of the supported types: ‘regular’, ‘pbs’, or ‘pbs-sdf_res’.

set_pos(f, pos)[source]#

Set particle positions for the specified frame.

Parameters:

  • f (int) – Frame index.

  • pos (ndarray) – Array of particle positions of shape (n_envs, n_particles, 3).

set_pos_grad(f: <gstaichi._lib.core.gstaichi_python.DataTypeCxx object at 0x7d47a6882530>, pos_grad: NdarrayType(dtype=None, ndim=None, layout=Layout.AOS, needs_grad=None))[source]#

Set gradient of particle positions.

Parameters:

  • f (int) – Frame index.

  • pos_grad (ndarray) – Gradient array for positions.

set_vel(f, vel)[source]#

Set particle velocities for the specified frame.

Parameters:

  • f (int) – Frame index.

  • vel (ndarray) – Array of particle velocities of shape (n_envs, n_particles, 3).

set_vel_grad(f: <gstaichi._lib.core.gstaichi_python.DataTypeCxx object at 0x7d47a6882530>, vel_grad: NdarrayType(dtype=None, ndim=None, layout=Layout.AOS, needs_grad=None))[source]#

Set gradient of particle velocities.

Parameters:

  • f (int) – Frame index.

  • vel_grad (ndarray) – Gradient array for velocities.

set_active(f, active)[source]#

Set the active status of particles for a given frame.

Parameters:

  • f (int) – Frame index.

  • active (ndarray) – Boolean array indicating whether each particle is active.

clear_grad(f: <gstaichi._lib.core.gstaichi_python.DataTypeCxx object at 0x7d47a6882530>)[source]#

Placeholder to clear gradients for the specified frame (not yet implemented).

Parameters:

f (int) – Frame index.

get_frame(f: <gstaichi._lib.core.gstaichi_python.DataTypeCxx object at 0x7d47a6882530>, pos: NdarrayType(dtype=None, ndim=None, layout=Layout.AOS, needs_grad=None), vel: NdarrayType(dtype=None, ndim=None, layout=Layout.AOS, needs_grad=None))[source]#

Retrieve particle positions and velocities for the given frame.

Parameters:

  • f (int) – Frame index.

  • pos (ndarray) – Output array for positions (n_envs, n_particles, 3).

  • vel (ndarray) – Output array for velocities (n_envs, n_particles, 3).

add_grad_from_state(state)[source]#

Apply gradients from a given state.

Parameters:

state (SPHEntityState) – The state from which to compute gradients.

get_state()[source]#

Get the current state of the SPHEntity including positions, velocities, .

Returns:

state – The current particle state for the entity.

Return type:

SPHEntityState