init_code
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sky
258
pygarment/meshgen/simulation.py
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258
pygarment/meshgen/simulation.py
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# Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
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# NVIDIA CORPORATION and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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###########################################################################
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# Example Sim Cloth
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#
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# Shows a simulation of an FEM cloth model colliding against a static
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# rigid body mesh using the wp.sim.ModelBuilder().
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#
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###########################################################################
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import sys
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import time
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import traceback
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import platform
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import multiprocessing
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import signal
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import trimesh
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# Warp
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import warp as wp
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# Custom code
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from pygarment.meshgen.render.pythonrender import render_images
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from pygarment.meshgen.garment import Cloth
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from pygarment.meshgen.sim_config import SimConfig, PathCofig
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wp.init()
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class SimulationError(BaseException):
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"""To be rised when panel stitching cannot be executed correctly"""
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pass
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class FrameTimeOutError(BaseException):
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"""To be rised when frame takes too long to simulate"""
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pass
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class SimTimeOutError(BaseException):
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"""To be rised when simulation takes too long"""
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pass
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def optimize_garment_storage(paths: PathCofig):
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"""Prepare the data element for compact storage: store the meshes as ply instead of obj,
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remove texture files
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"""
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# Objs to ply
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try:
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boxmesh = trimesh.load(paths.g_box_mesh)
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boxmesh.export(paths.g_box_mesh_compressed)
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paths.g_box_mesh.unlink()
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except BaseException:
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pass
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try:
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simmesh = trimesh.load(paths.g_sim)
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simmesh.export(paths.g_sim_compressed)
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paths.g_sim.unlink()
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except BaseException:
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pass
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# Remove large texture file and mtl -- not so necessary
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paths.g_texture_fabric.unlink(missing_ok=True)
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paths.g_mtl.unlink(missing_ok=True)
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def update_progress(progress, total):
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"""Progress bar in console"""
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# https://stackoverflow.com/questions/3173320/text-progress-bar-in-the-console
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amtDone = progress / total
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num_dash = int(amtDone * 50)
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sys.stdout.write('\rProgress: [{0:50s}] {1:.1f}%'.format('#' * num_dash + '-' * (50 - num_dash), amtDone * 100))
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sys.stdout.flush()
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def _run_frame_with_timeout(garment, frame_timeout, frame_num):
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"""Run frame while keeping a cap on time to run it"""
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try:
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if platform.system() == "Windows":
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"""https://stackoverflow.com/a/14920854"""
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if frame_num == 0: #only do it on first frame due to slowdown
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p_frame = multiprocessing.Process(target=garment.run_frame(), name="FrameSimulation")
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p_frame.start()
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# Wait timeout_after seconds for garment.run_frame()
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p_frame.join(frame_timeout)
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# If thread is active
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if p_frame.is_alive():
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# Terminate the process
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p_frame.terminate()
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p_frame.join()
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raise TimeoutError
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else:
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garment.run_frame()
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elif platform.system() in ["Linux", "OSX"]:
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"""https://code-maven.com/python-timeout"""
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def alarm_handler(signum, frame):
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raise TimeoutError
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signal.signal(signal.SIGALRM, alarm_handler)
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signal.alarm(frame_timeout)
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try:
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garment.run_frame()
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except TimeoutError as ex:
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raise TimeoutError
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else:
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signal.alarm(0)
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except TimeoutError as e:
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raise FrameTimeOutError
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def sim_frame_sequence(garment, config, store_usd=False, verbose=False):
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# Save initial state
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if store_usd:
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garment.render_usd_frame()
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start_time = time.time()
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for frame in range(0, config.max_sim_steps):
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if verbose:
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print(f'\n------ Frame {frame + 1} ------')
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else:
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update_progress(frame, config.max_sim_steps)
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garment.frame = frame
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#Run frame and raise FrameTimeOutError if frame takes too long to simulate
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static = False
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if config.max_frame_time is None:
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# No frame time limits
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garment.run_frame()
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else:
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# NOTE: frame timeouts only work in the main thread of the program.
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# disable frame timeout by passing 'null' as a max_frame_time parameter in config
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_run_frame_with_timeout(
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garment,
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frame_timeout=config.max_frame_time if frame > 0 else config.max_frame_time * 2,
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frame_num=frame
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)
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if verbose:
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num_cloth_cloth_contacts = garment.count_self_intersections()
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print(f'\nSelf-Intersection: {num_cloth_cloth_contacts}')
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if frame >= config.zero_gravity_steps and frame >= config.min_sim_steps:
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static, _ = garment.is_static()
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if static:
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break
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runtime = time.time() - start_time
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if runtime > config.max_sim_time:
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raise SimTimeOutError
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def run_sim(
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cloth_name, props, paths: PathCofig,
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save_v_norms=False, store_usd=False,
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optimize_storage=False,
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verbose=False):
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"""Initialize and run the simulation
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!! Important !!
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'store_usd' parameter slows down the simulation to CPU rates because of required CPU-GPU copies and file writes. Use only for debugging
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"""
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sim_props = props['sim']
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render_props = props['render']
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start_time = time.time()
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config = SimConfig(sim_props['config']) # Why separate class at all?
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garment = Cloth(cloth_name, config, paths, caching=store_usd)
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try:
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print("Simulation..")
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sim_frame_sequence(garment, config, store_usd, verbose=verbose)
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except FrameTimeOutError:
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print(f"FrameTimeOutError at frame {garment.frame}")
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props.add_fail('sim', 'frame_timeout', cloth_name)
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except SimTimeOutError:
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print("SimTimeOutError")
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props.add_fail('sim', 'simulation_timeout', cloth_name)
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except SimulationError:
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print("Simulation failed")
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props.add_fail('sim', 'gt_edges_creation', cloth_name)
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except BaseException as e:
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print(f'Sim::{cloth_name}::crashed with {e}')
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if isinstance(e, KeyboardInterrupt):
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# Allow to stop simulation loops by keyboard interrupt
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# It's not a real crash, so don't write down the failure
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sec = round(time.time() - start_time, 3)
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min = int(sec / 60)
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print(f"Simulation pipeline took: {min} m {sec - min * 60} s")
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raise e
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traceback.print_exc()
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props.add_fail('sim', 'crashes', cloth_name)
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else: # Other quality checks
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if garment.frame == config.max_sim_steps - 1:
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_, non_st_count = garment.is_static()
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print('\nFailed to achieve static equilibrium for {} with {} non-static vertices out of {}'.format(
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cloth_name, non_st_count, len(garment.current_verts)))
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props.add_fail('sim', 'static_equilibrium', cloth_name)
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if time.time() - start_time < 0.5: # 0.5 sec -- finished suspiciously fast
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props.add_fail('sim', 'fast_finish', cloth_name)
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# 3D penetrations
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num_body_collisions = garment.count_body_intersections()
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print("BODY CLOTH INTERSECTIONS: ", num_body_collisions)
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num_self_collisions = garment.count_self_intersections()
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sim_props['stats']['body_collisions'][cloth_name] = num_body_collisions
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sim_props['stats']['self_collisions'][cloth_name] = num_self_collisions
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if num_body_collisions > config.max_body_collisions:
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props.add_fail('sim', 'cloth_body_intersection', cloth_name)
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if num_self_collisions:
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print(f'Self-Intersecting with {num_self_collisions}, '
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f'is fail: {num_self_collisions > config.max_self_collisions}')
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if num_self_collisions > config.max_self_collisions:
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props.add_fail('sim', 'cloth_self_intersection', cloth_name)
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else:
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print('Not self-intersecting!!!')
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# ---- Postprocessing ----
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# NOTE: Attempt even on failures for accurate picture and post-analysis
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frame = garment.frame
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print(f"\nSimulation took #frames={frame + 1}")
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sim_props['stats']['sim_time'][cloth_name] = sim_time = time.time() - start_time
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sim_props['stats']['spf'][cloth_name] = sim_time / frame if frame else sim_time
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sim_props['stats']['fin_frame'][cloth_name] = frame
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garment.save_frame(save_v_norms=save_v_norms) #saving after stats
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# Render images
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s_time = time.time()
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render_images(paths, garment.v_body, garment.f_body, render_props['config'])
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render_image_time = time.time() - s_time
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render_props['stats']['render_time'][cloth_name] = render_image_time
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print(f"Rendering {cloth_name} took {render_image_time}s")
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if optimize_storage:
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optimize_garment_storage(paths)
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# Final info output
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sec = round(time.time() - start_time, 3)
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min = int(sec / 60)
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print(f"\nSimulation pipeline took: {min} m {sec - min * 60} s")
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