From 9a59a3189365963383db5697080121302dc68fa2 Mon Sep 17 00:00:00 2001 From: ShaimaaMonem Date: Thu, 18 May 2023 21:11:25 +0200 Subject: [PATCH 1/4] creating an example for poking a mesh --- python/ast_fem_np/fill_euler_np.py | 6 +- python/ast_fem_np/vanilla_test_np_pocking.py | 254 +++++++++++++++++++ 2 files changed, 258 insertions(+), 2 deletions(-) create mode 100644 python/ast_fem_np/vanilla_test_np_pocking.py diff --git a/python/ast_fem_np/fill_euler_np.py b/python/ast_fem_np/fill_euler_np.py index addabf2..0a3302d 100644 --- a/python/ast_fem_np/fill_euler_np.py +++ b/python/ast_fem_np/fill_euler_np.py @@ -55,7 +55,9 @@ def fill_euler(handles): eulers [58, :] = [-0.054 * np.pi / 180, -0.271 * np.pi / 180, -2.847 * np.pi / 180] eulers [60, :] = [-12.450 * np.pi / 180, 5.272 * np.pi / 180, -126.553 * np.pi / 180,] eulers [61, :] = [0.769 * np.pi / 180, 9.669 * np.pi / 180, 77.890 * np.pi / 180] - eulers [62, :] = [5.019 * np.pi / 180, -6.404 * np.pi / 180, 14.526 * np.pi / 180] - return eulers + eulers [62, :] = [5.019 * np.pi / 180, -6.404 * np.pi / 180, 14.526 * np.pi / 180] + + scale = 1/30 + return eulers * scale diff --git a/python/ast_fem_np/vanilla_test_np_pocking.py b/python/ast_fem_np/vanilla_test_np_pocking.py new file mode 100644 index 0000000..02d5a1c --- /dev/null +++ b/python/ast_fem_np/vanilla_test_np_pocking.py @@ -0,0 +1,254 @@ +import scipy +import numpy as np +import scipy.sparse as sps +import polyscope as ps +from time import time +import meshio +from python.common.def_grad3d import def_grad3d +from python.common.linear_tet3dmesh_arap_ds2 import linear_tet3dmesh_arap_ds2 +from python.common.linear_tet3dmesh_arap_ds import linear_tet3dmesh_arap_ds +from build_u_np import build_u +from closest_index_np import closest_index +from tet_assignment_np import tet_assignment +from forward_kinematics_np import forward_kinematics +from block_r3d_np import block_r3d +from pinvert_np import pinvert +from python.common.igl2bart import igl2bart +from compute_j_np import compute_J_SVD +from v_cycle_np import v_cycle +from gauss_seidel_np import A_L_sum_U +from fill_euler_np import fill_euler +from PIL import Image, ImageDraw +import config + +ps.init() +if __name__ == '__main__': + debug = config.DEBUG + start_global = time() + if debug: + start = time() + ########## BEAM DATA ############## + # # read beam model + # mesh = meshio.read("../../data/beam.mesh") + # Vt = mesh.points + # Tt = mesh.cells[1].data.astype("int32") + # # make beam skeleton + # hier = np.array([0, 1, 2]) + # handles = np.array([[-4.5, 0.0, 0.0], [0.0, 0.0, 0.0], [4.5, 0.0, 0.0]]) + # # level of beam + # b_levels = np.array([[30]]).astype(int) + # # load beam samples + # py_P = scipy.io.loadmat("../../data/P_beam.mat")['P'] + # py_PI = scipy.io.loadmat("../../data/PI_beam.mat")['PI'] + # # beam eulers + # eulers = np.array([[0.0, 0.0, 0.0], [-np.pi /30, 0.0, 0.0], [0.0, 0.0, 0.0]]) + # # eulers = np.array([[0.0, 0.0, 0.0], [0.0, -np.pi/2, 0.0], [0.0, 0.0, 0.0]]) + ########## BEAM DATA END ############## + + ########## HUMAN DATA ############## + # read human model + mesh = meshio.read("../../data/output_mfem1.msh") + Vt = mesh.points + Tt = mesh.cells[0].data.astype("int32") + # load human skeleton + handlest = scipy.io.loadmat('../../data/handles.mat') + hiert = scipy.io.loadmat("../../data/hierarchy.mat") + handles = handlest['position'] ## to access the mat from the dict use: handles['position'] (numHandels, 3) + hier = hiert['hierarchy'][:, 1] + # level of human + b_levels = np.array([[50]]).astype(int) + # load human samples + py_P = scipy.io.loadmat("../../data/P.mat")['P'] ## to access the mat from the dict use: Pt['P'] + py_PI = scipy.io.loadmat("../../data/PI.mat")['PI'] + # load human eulers + eulers = fill_euler(handles) + ########## HUMAN DATA END ############## + + if debug: + end = time() + print(f"Reading data took {end-start} seconds.") + print("Vertices: ", len(Vt), Vt.shape) + print("Tets: ", len(Tt), Tt.shape) + + ########## ONE TIME SETUP ########## + if debug: + print("Starting one time setup process...") + start_setup = time() + + if debug: + start = time() + B = def_grad3d(Vt, Tt) + if debug: + end = time() + print(f"Getting grad took {end-start} seconds.") + mu = 100 # material properties + k_bc = 10000 # stiffness + s = np.zeros((6 * Tt.shape[0], 1)) + if debug: + start = time() + grad = linear_tet3dmesh_arap_ds(Vt, Tt, s, mu) + hess = linear_tet3dmesh_arap_ds2(Vt, Tt, s, mu) + if debug: + end = time() + print(f"Getting energy took {end-start} seconds.") + + l = b_levels.shape[0] + + if debug: + start = time() + weight = closest_index(Vt, py_P) + if debug: + end = time() + print(f"Computing closest index took {end-start} seconds.") + if debug: + start = time() + Ut, NN = build_u(weight, b_levels, l, py_P, Vt) + if debug: + end = time() + print(f"Building the U matrix took {end-start} seconds.") + + midpoints_np = np.zeros((handles.shape[0] - 1, 3)) + for i in range(handles.shape[0]): + if hier[i] == 0: + continue + else: + midpoints_np[i - 1, :] = (handles[i, :] + handles[int(hier[i]) - 1, :]) / 2 + + if debug: + start = time() + fAssign = tet_assignment(Vt, Tt, midpoints_np) + if debug: + end = time() + print(f"Computing tet assignments took {end-start} seconds.") + + num_handles = handles.shape[0] + num_midpoints = midpoints_np.shape[0] + Ht = np.zeros((num_handles + num_midpoints, 3)) + Ht[:num_handles, :] = handles + Ht[num_handles:, :] = midpoints_np + + if debug: + start = time() + vAssign = pinvert(Vt, Ht) + if debug: + end = time() + print(f"Computing the pinned verts took {end-start} seconds.") + if debug: + print(f"Finished the one time setup.\nThe setup took {end-start_setup} seconds.") + + ## start simulations (local area poking effect) + poke_mag = 0.24 # magnitude of poking effect + character_init_pos = np.array([0.0, 0.0, 0.0]) + poke_at_vert = 481 #504 + poke_raduis = 0.8 #0.4 + verts = Vt.copy() + distance_to_poked_vert = np.linalg.norm(verts - verts[poke_at_vert], axis=1) + poke_effect = np.zeros_like(distance_to_poked_vert) + poke_effect[distance_to_poked_vert <= poke_raduis] = poke_mag + chatacter_gif = [] + for t in np.linspace(0., 30, 20): + # We move the handles here, so let's consider that we start the sim from around this point + if debug: + start_all_sim = time() + + if debug: + start = time() + newR, new_handles = forward_kinematics(handles, hier, eulers) + if debug: + end = time() + print(f"Running FWD Kinematics took {end-start} seconds.") + rows_T = Tt.shape[0] + R = np.zeros((rows_T, 9)) + # assigning rotations to each tet according to fAssign info + for i in range(rows_T): + R[i, :] = newR[int(fAssign[i]), :] + + if debug: + start = time() + R_mat_py, R_mat_blocks = block_r3d(R, blocks=True) # python function + if debug: + end = time() + print(f"block_r3d took {end-start} seconds.") + + I = np.eye(3) + q = igl2bart(Vt) + + pinned_mat = sps.lil_matrix((3 * Ht.shape[0], 3 * Vt.shape[0])) + for i in range(Ht.shape[0]): + pinned_mat[3 * i:3 * (i + 1), 3 * int(vAssign[i]):3 * int(vAssign[i])+3] = I + + midpoints = np.zeros((new_handles.shape[0] - 1, 3)) + for i in range(new_handles.shape[0]): + if hier[i] == 0: + continue + else: + midpoints[i - 1, :] = (new_handles[i, :] + new_handles[hier[i] - 1, :]) / 2 + + new_new_handles = np.zeros((new_handles.shape[0] + midpoints.shape[0], 3)) + new_new_handles[:new_handles.shape[0], :] = new_handles + new_new_handles[new_handles.shape[0]:, :] = midpoints + + pinned_b = igl2bart(new_new_handles) + + nq = q.shape[0] + ns = s.shape[0] + nlambda = 9 * Tt.shape[0] + if debug: + start = time() + J = compute_J_SVD(R_mat_py, B, r_mat_blocks=R_mat_blocks) # cupy/numpy function + if debug: + end = time() + print(f"J computed in {end-start} seconds.") + A = k_bc * pinned_mat.T @ pinned_mat + J.T @ hess @ J + b = k_bc * pinned_mat.T @ pinned_b - J.T @ grad + b = np.squeeze(b) + + if config.USE_MG: + UTAU = [] + for i in range(len(Ut)): + if i == 0: + UTAU.append(Ut[i].T.dot(A).dot(Ut[i]) + NN) + else: + UTAU.append(Ut[i].T.dot(UTAU[i - 1]).dot(Ut[i])) + + normVal = float('inf') + itr = 0 + tol = 1e-5 + sol = np.zeros(b.shape) + rows, cols = A.nonzero() + itr_num = 1 + l = len(Ut) - 1 + U, L = A_L_sum_U(A) # python + if debug: + print("Using the MG solver...") + start_solve = time() + while normVal > tol: + sol_old = sol + sol = v_cycle(A, U, L, b, UTAU, Ut, l, itr_num, sol_old, debug=False) + normVal = np.linalg.norm(b - A.dot(sol)) + if debug: + print("error: ", normVal) + else: + if debug: + print("Using the direct solver...") + start_solve = time() + sol = scipy.sparse.linalg.spsolve(A, b) + if debug: + end_solve = time() + print(f"The solve took {end_solve-start_solve} seconds.") + print(f"The complete sim took {end_solve-start_all_sim} seconds.") + print(f"The entire process from startup took {end_solve-start_global} seconds.") + + handles = new_handles + # visualization + ps.set_program_name("mfem") + ps.set_ground_plane_mode("shadow_only") + + poked_character = sol.reshape(-1, 3).copy() + poked_character += poke_effect[:, np.newaxis] * (t/3) #(t/15) + + ps_vol = ps.register_volume_mesh("test volume mesh", poked_character, tets=Tt) + ps_vol.add_scalar_quantity("poke me!", poke_effect, defined_on="vertices", cmap="phase") + #ps.look_at((0., 0., 2), (0., 0., 0.)) + #ps.screenshot(transparent_bg=False) + ps.show() \ No newline at end of file From 5042a912d4b481355d34c4b3f2f06c4546a83e9a Mon Sep 17 00:00:00 2001 From: ShaimaaMonem Date: Fri, 19 May 2023 17:43:42 +0200 Subject: [PATCH 2/4] generating dence meshes --- data/mfem_human_model_surface.obj | 12332 ++++++++++++++++++ python/ast_fem_np/generating_dencer_mesh.py | 27 + 2 files changed, 12359 insertions(+) create mode 100644 data/mfem_human_model_surface.obj create mode 100644 python/ast_fem_np/generating_dencer_mesh.py diff --git a/data/mfem_human_model_surface.obj b/data/mfem_human_model_surface.obj new file mode 100644 index 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+f 3834 3867 4006 +f 3834 4077 3924 +f 3834 4006 4077 +f 3874 3883 4078 +f 3915 4076 4057 +f 3948 3972 3983 diff --git a/python/ast_fem_np/generating_dencer_mesh.py b/python/ast_fem_np/generating_dencer_mesh.py new file mode 100644 index 0000000..524f4fb --- /dev/null +++ b/python/ast_fem_np/generating_dencer_mesh.py @@ -0,0 +1,27 @@ +import numpy as np +import polyscope as ps +import igl +import tetgen + +ps.init() + +# Read & register the mesh +v , f = igl.read_triangle_mesh("../../data/mfem_human_model_surface.obj") +#ps_mesh = ps.register_surface_mesh("my mesh", v, f) + +tgen = tetgen.TetGen(v, f) +nodes, elems = tgen.tetrahedralize('-q0.1', nobisect=True, steinerleft=500000, minratio=1.1) +ps_vol = ps.register_volume_mesh("test volume mesh", nodes, tets=elems) +# Add a slice plane +ps_plane = ps.add_scene_slice_plane() +ps_plane.set_draw_plane(True) # render the semi-transparent gridded plane +ps_plane.set_draw_widget(True) + +# Animate the plane sliding along the scene +for t in np.linspace(0., 2*np.pi, 12): + pos = np.cos(t) * .8 + .6 + ps_plane.set_pose((0., 0., pos), (0., 0., -1.)) + + # Take a screenshot at each frame + #ps.screenshot(transparent_bg=False) + ps.show() \ No newline at end of file From 6d24955aa1a178e70f4cdfb7131c1da210667b94 Mon Sep 17 00:00:00 2001 From: ShaimaaMonem Date: Fri, 19 May 2023 21:59:12 +0200 Subject: [PATCH 3/4] added the poking example as a config option, and a separate function --- .../char_mesh.obj\357\200\272Zone.Identifier" | 3 + data/human_char_dense.msh | Bin 0 -> 2061768 bytes data/human_char_mesh.obj | 59423 ++++++++++++++++ python/ast_fem_np/config.py | 4 +- python/ast_fem_np/generating_dencer_mesh.py | 27 - python/ast_fem_np/poke_character.py | 22 + python/ast_fem_np/vanilla_test_np_pocking.py | 30 +- 7 files changed, 59465 insertions(+), 44 deletions(-) create mode 100644 "data/char_mesh.obj\357\200\272Zone.Identifier" create mode 100644 data/human_char_dense.msh create mode 100644 data/human_char_mesh.obj delete mode 100644 python/ast_fem_np/generating_dencer_mesh.py create mode 100644 python/ast_fem_np/poke_character.py diff --git "a/data/char_mesh.obj\357\200\272Zone.Identifier" "b/data/char_mesh.obj\357\200\272Zone.Identifier" new file mode 100644 index 0000000..814515f --- /dev/null +++ "b/data/char_mesh.obj\357\200\272Zone.Identifier" @@ -0,0 +1,3 @@ +[ZoneTransfer] +ZoneId=3 +HostUrl=https://files.slack.com/files-pri/T03ACRYJKPB-F0587H7FQTH/download/char_mesh.obj?origin_team=T03ACRYJKPB diff --git a/data/human_char_dense.msh b/data/human_char_dense.msh new file mode 100644 index 0000000000000000000000000000000000000000..c49be9e81771cffd83cb3023af4d139404c6dcb9 GIT binary patch literal 2061768 zcmYh>cRbbK{{V1%RW{js@0Ael$tK&qMrGV9N~I(vBPE55N=YdisFWg6q;X%8(9}>e zG7>2}l!))^^ZV=f_w(^yXS~kqyv|$2Eo}D|hn>-p^cX%PJtGA}1v5TY78Vv2`yHG9 zAE~(S+!VH(&(LVKnbH4w=&}QH<{N#%EF$0c#0;IB-{76lXUzp{c&&p~-OCE9FJus0HUnuOElT<K)a$YG1J28k}T-&pUQ5%l^={e@q@U#UF=S)(iLoZNa}FyN6D4 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14425/15646/14696 9727/10225/9928 9663/10152/9864 14426/15647/9863 +f 9818/10470/10021 9824/10477/10025 14419/15639/14697 14418/15638/10018 +f 9824/10477/10025 9049/9778/9250 14420/15640/9249 14419/15639/14697 +f 10388/15525/10590 10454/15365/10656 14442/15664/10655 14441/15663/10591 +f 14415/15635/10654 10453/15362/10653 10459/15372/10660 14416/15636/14698 +f 10459/15372/10660 9819/10473/10020 14417/15637/10019 14416/15636/14698 diff --git a/python/ast_fem_np/config.py b/python/ast_fem_np/config.py index 2e2782a..bffb650 100644 --- a/python/ast_fem_np/config.py +++ b/python/ast_fem_np/config.py @@ -6,4 +6,6 @@ USE_MG = False DEBUG = True SHRINKAGE_FACTOR = 2 -NO_PROGRESS_STREAK_THRESHOLD = 10 \ No newline at end of file +NO_PROGRESS_STREAK_THRESHOLD = 10 + +SIM_POKE = True \ No newline at end of file diff --git a/python/ast_fem_np/generating_dencer_mesh.py b/python/ast_fem_np/generating_dencer_mesh.py deleted file mode 100644 index 524f4fb..0000000 --- a/python/ast_fem_np/generating_dencer_mesh.py +++ /dev/null @@ -1,27 +0,0 @@ -import numpy as np -import polyscope as ps -import igl -import tetgen - -ps.init() - -# Read & register the mesh -v , f = igl.read_triangle_mesh("../../data/mfem_human_model_surface.obj") -#ps_mesh = ps.register_surface_mesh("my mesh", v, f) - -tgen = tetgen.TetGen(v, f) -nodes, elems = tgen.tetrahedralize('-q0.1', nobisect=True, steinerleft=500000, minratio=1.1) -ps_vol = ps.register_volume_mesh("test volume mesh", nodes, tets=elems) -# Add a slice plane -ps_plane = ps.add_scene_slice_plane() -ps_plane.set_draw_plane(True) # render the semi-transparent gridded plane -ps_plane.set_draw_widget(True) - -# Animate the plane sliding along the scene -for t in np.linspace(0., 2*np.pi, 12): - pos = np.cos(t) * .8 + .6 - ps_plane.set_pose((0., 0., pos), (0., 0., -1.)) - - # Take a screenshot at each frame - #ps.screenshot(transparent_bg=False) - ps.show() \ No newline at end of file diff --git a/python/ast_fem_np/poke_character.py b/python/ast_fem_np/poke_character.py new file mode 100644 index 0000000..934c93e --- /dev/null +++ b/python/ast_fem_np/poke_character.py @@ -0,0 +1,22 @@ +import numpy as np + +def poke_character(V, poke_mag, poke_at_vert, poke_raduis, poke_width, poke_type, scaled_poke = 1.0): + + poke_mag = poke_mag # magnitude of poking effect + character_init_pos = np.array([0.0, 0.0, 0.0]) + poke_at_vert = poke_at_vert + poke_raduis = poke_raduis #0.4 + verts = V.copy() + distance_to_poked_vert = np.linalg.norm(verts - verts[poke_at_vert], axis=1) + poke_effect = np.zeros_like(distance_to_poked_vert) + poke_width = poke_width + + if poke_type == "plane": + poke_effect[distance_to_poked_vert <= poke_raduis] = poke_mag + elif poke_type == "cos effect": + scaled_poke = poke_mag * np.cos(distance_to_poked_vert * poke_width) + poke_effect[distance_to_poked_vert <= poke_raduis] = scaled_poke[distance_to_poked_vert <= poke_raduis] + else: + print("poke type undefined: ", poke_type) + + return poke_effect \ No newline at end of file diff --git a/python/ast_fem_np/vanilla_test_np_pocking.py b/python/ast_fem_np/vanilla_test_np_pocking.py index 02d5a1c..f6eb2df 100644 --- a/python/ast_fem_np/vanilla_test_np_pocking.py +++ b/python/ast_fem_np/vanilla_test_np_pocking.py @@ -18,7 +18,7 @@ from v_cycle_np import v_cycle from gauss_seidel_np import A_L_sum_U from fill_euler_np import fill_euler -from PIL import Image, ImageDraw +from poke_character import poke_character import config ps.init() @@ -47,7 +47,7 @@ ########## HUMAN DATA ############## # read human model - mesh = meshio.read("../../data/output_mfem1.msh") + mesh = meshio.read("../../data/human_char_dense.msh") Vt = mesh.points Tt = mesh.cells[0].data.astype("int32") # load human skeleton @@ -137,16 +137,11 @@ print(f"Finished the one time setup.\nThe setup took {end-start_setup} seconds.") ## start simulations (local area poking effect) - poke_mag = 0.24 # magnitude of poking effect - character_init_pos = np.array([0.0, 0.0, 0.0]) - poke_at_vert = 481 #504 - poke_raduis = 0.8 #0.4 - verts = Vt.copy() - distance_to_poked_vert = np.linalg.norm(verts - verts[poke_at_vert], axis=1) - poke_effect = np.zeros_like(distance_to_poked_vert) - poke_effect[distance_to_poked_vert <= poke_raduis] = poke_mag - chatacter_gif = [] - for t in np.linspace(0., 30, 20): + + if config.SIM_POKE: + poke_effect = poke_character(Vt, 0.24, 481, 1, 1.5, "plane") + + for t in np.linspace(0., 20, 15): # We move the handles here, so let's consider that we start the sim from around this point if debug: start_all_sim = time() @@ -244,11 +239,14 @@ ps.set_program_name("mfem") ps.set_ground_plane_mode("shadow_only") - poked_character = sol.reshape(-1, 3).copy() - poked_character += poke_effect[:, np.newaxis] * (t/3) #(t/15) + character = sol.reshape(-1, 3).copy() - ps_vol = ps.register_volume_mesh("test volume mesh", poked_character, tets=Tt) + if config.SIM_POKE: + character += poke_effect[:, np.newaxis] * (t/3) #(t/15) + + ps_vol = ps.register_volume_mesh("test volume mesh", character, tets=Tt) ps_vol.add_scalar_quantity("poke me!", poke_effect, defined_on="vertices", cmap="phase") - #ps.look_at((0., 0., 2), (0., 0., 0.)) + + ## Uncomment to save screenshots #ps.screenshot(transparent_bg=False) ps.show() \ No newline at end of file From 1413f84eba872434e6da8e6bdfdacd2ae46211db Mon Sep 17 00:00:00 2001 From: ShaimaaMonem Date: Fri, 19 May 2023 22:11:27 +0200 Subject: [PATCH 4/4] added the poking example as a config option, and a separate function --- python/ast_fem_np/fill_euler_np.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/ast_fem_np/fill_euler_np.py b/python/ast_fem_np/fill_euler_np.py index 0a3302d..4f6931c 100644 --- a/python/ast_fem_np/fill_euler_np.py +++ b/python/ast_fem_np/fill_euler_np.py @@ -57,7 +57,7 @@ def fill_euler(handles): eulers [61, :] = [0.769 * np.pi / 180, 9.669 * np.pi / 180, 77.890 * np.pi / 180] eulers [62, :] = [5.019 * np.pi / 180, -6.404 * np.pi / 180, 14.526 * np.pi / 180] - scale = 1/30 + scale = 1 return eulers * scale

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