# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import warp as wp
from isaaclab.assets.deformable_object.base_deformable_object_data import BaseDeformableObjectData
from isaaclab.utils.buffers import TimestampedBuffer, reset_timestamps
from isaaclab.utils.warp import ProxyArray
from isaaclab_newton.physics import NewtonManager as SimulationManager
from .kernels import compute_mean_vec3f_over_particles, compute_particle_state_w, gather_particles_vec3f, vec6f
[docs]
class MPMObjectData(BaseDeformableObjectData):
"""Data container for a Newton MPM particle object."""
__backend_name__: str = "newton"
def __init__(self, particle_offsets: wp.array, particles_per_object: int, num_instances: int, device: str):
super().__init__(device)
self._particle_offsets = particle_offsets
self._particles_per_object = particles_per_object
self._num_instances = num_instances
particle_shape = (num_instances, particles_per_object)
self._particle_pos_w = TimestampedBuffer(wp.empty(particle_shape, dtype=wp.vec3f, device=device))
self._particle_vel_w = TimestampedBuffer(wp.empty(particle_shape, dtype=wp.vec3f, device=device))
self._particle_state_w = TimestampedBuffer(wp.empty(particle_shape, dtype=vec6f, device=device))
self._root_pos_w = TimestampedBuffer(wp.empty(num_instances, dtype=wp.vec3f, device=device))
self._root_vel_w = TimestampedBuffer(wp.empty(num_instances, dtype=wp.vec3f, device=device))
self._particle_pos_w_ta = ProxyArray(self._particle_pos_w.data)
self._particle_vel_w_ta = ProxyArray(self._particle_vel_w.data)
self._particle_state_w_ta = ProxyArray(self._particle_state_w.data)
self._root_pos_w_ta = ProxyArray(self._root_pos_w.data)
self._root_vel_w_ta = ProxyArray(self._root_vel_w.data)
self.default_nodal_state_w: ProxyArray | None = None
self.default_particle_state_w: ProxyArray | None = None
self.nodal_kinematic_target: ProxyArray | None = None
def _create_simulation_bindings(self) -> None:
"""Invalidate gathered buffers after model reinitialization."""
reset_timestamps(
(self._particle_pos_w, self._particle_vel_w, self._particle_state_w, self._root_pos_w, self._root_vel_w)
)
@property
def particle_pos_w(self) -> ProxyArray:
"""Particle positions in simulation world frame [m]."""
if self._particle_pos_w.timestamp < self._sim_timestamp:
state = SimulationManager.get_state_0()
wp.launch(
gather_particles_vec3f,
dim=(self._num_instances, self._particles_per_object),
inputs=[state.particle_q, self._particle_offsets],
outputs=[self._particle_pos_w.data],
device=self.device,
)
self._particle_pos_w.timestamp = self._sim_timestamp
return self._particle_pos_w_ta
@property
def particle_vel_w(self) -> ProxyArray:
"""Particle velocities in simulation world frame [m/s]."""
if self._particle_vel_w.timestamp < self._sim_timestamp:
state = SimulationManager.get_state_0()
wp.launch(
gather_particles_vec3f,
dim=(self._num_instances, self._particles_per_object),
inputs=[state.particle_qd, self._particle_offsets],
outputs=[self._particle_vel_w.data],
device=self.device,
)
self._particle_vel_w.timestamp = self._sim_timestamp
return self._particle_vel_w_ta
@property
def particle_state_w(self) -> ProxyArray:
"""Particle state ``[pos, vel]`` in simulation world frame [m, m/s]."""
if self._particle_state_w.timestamp < self._sim_timestamp:
wp.launch(
compute_particle_state_w,
dim=(self._num_instances, self._particles_per_object),
inputs=[self.particle_pos_w.warp, self.particle_vel_w.warp],
outputs=[self._particle_state_w.data],
device=self.device,
)
self._particle_state_w.timestamp = self._sim_timestamp
return self._particle_state_w_ta
@property
def nodal_pos_w(self) -> ProxyArray:
return self.particle_pos_w
@property
def nodal_vel_w(self) -> ProxyArray:
return self.particle_vel_w
@property
def nodal_state_w(self) -> ProxyArray:
return self.particle_state_w
@property
def root_pos_w(self) -> ProxyArray:
"""Mean particle position per instance in simulation world frame [m]."""
if self._root_pos_w.timestamp < self._sim_timestamp:
wp.launch(
compute_mean_vec3f_over_particles,
dim=(self._num_instances,),
inputs=[self.particle_pos_w.warp, self._particles_per_object],
outputs=[self._root_pos_w.data],
device=self.device,
)
self._root_pos_w.timestamp = self._sim_timestamp
return self._root_pos_w_ta
@property
def root_vel_w(self) -> ProxyArray:
"""Mean particle velocity per instance in simulation world frame [m/s]."""
if self._root_vel_w.timestamp < self._sim_timestamp:
wp.launch(
compute_mean_vec3f_over_particles,
dim=(self._num_instances,),
inputs=[self.particle_vel_w.warp, self._particles_per_object],
outputs=[self._root_vel_w.data],
device=self.device,
)
self._root_vel_w.timestamp = self._sim_timestamp
return self._root_vel_w_ta
