# PyFleX

**Repository Path**: zyabo/PyFleX

## Basic Information

- **Project Name**: PyFleX
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-02
- **Last Updated**: 2022-01-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# PyFleX

[NVIDIA FleX](https://developer.nvidia.com/flex) is an amazing particle-based simulator for simulating interactions between rigid bodies, fluids, clothing, etc. In this repo, we have developed Python bindings for setting up and interacting with a few [enviroments](#demo) that we can used to evaluate different simulation and control algorithms.

## Citing

If you find this codebase useful in your research, please consider citing:

    @article{li2018learning,
      title={Learning particle dynamics for manipulating rigid bodies, deformable objects, and fluids},
      author={Li, Yunzhu and Wu, Jiajun and Tedrake, Russ and Tenenbaum, Joshua B and Torralba, Antonio},
      journal={arXiv preprint arXiv:1810.01566},
      year={2018}
    }
    
    @article{macklin2014unified,
      title={Unified particle physics for real-time applications},
      author={Macklin, Miles and M{\"u}ller, Matthias and Chentanez, Nuttapong and Kim, Tae-Yong},
      journal={ACM Transactions on Graphics (TOG)},
      volume={33},
      number={4},
      pages={1--12},
      year={2014},
      publisher={ACM New York, NY, USA}
    }

## Using Docker

If you are using Ubuntu 16.04 LTS and CUDA 9.1, you can continue with the steps on this page for compilation. If you are using **newer versions** of Ubuntu or CUDA, we provide the pre-built Docker image and Dockerfile for compiling PyFleX. Please refer to our [Docker](bindings/docs/docker.md) page.

## Prerequisite

This codebase is tested with Ubuntu 16.04 LTS and CUDA 9.1. Other versions might work but are not guaranteed. Following command will install some necessary dependencies.

    sudo apt-get install build-essential libgl1-mesa-dev freeglut3-dev

## Compile and play with the original demo provided by NVIDIA FleX

First compile the demo

    cd demo/compiler/makelinux64/
    make -j

Then go to the target folder and start the demo!

    cd ../../../bin/linux64
    ./NvFlexDemoReleaseCUDA_x64


## Compile PyFleX with CMake & Pybind11

Go to the root folder of `PyFleX`, and set up paths

    export PYFLEXROOT=${PWD}
    export PYTHONPATH=${PYFLEXROOT}/bindings/build:$PYTHONPATH
    export LD_LIBRARY_PATH=${PYFLEXROOT}/external/SDL2-2.0.4/lib/x64:$LD_LIBRARY_PATH

Compile PyFleX

    cd bindings/
    mkdir build; cd build; cmake ..; make -j

Try with `FluidFall` example. A window will pop up showing the simulation results.

    cd ${PYFLEXROOT}/bindings/examples
    python test_FluidFall.py


## Demo

Following we provided 6 environments for you to play with. Directly run the python scripts to see the simulation results. Screenshots will be stored in `${PYFLEXROOT}/bindings/examples/test_[env]/`.


**FluidFall** - Two drops of high-viscosity fluids are falling down and merging with each other.

    cd ${PYFLEXROOT}/bindings/examples
    python test_FluidFall.py

![](imgs/FluidFall.gif)


**BoxBath** - A block of water is flushing a rigid cube.

    cd ${PYFLEXROOT}/bindings/examples
    python test_BoxBath.py

![](imgs/BoxBath.gif)


**FluidShake** - Shake a box of fluids. The following script will first simulate the scene, and then playback the motion of the particles with the frontal wall removed for visualization.

    cd ${PYFLEXROOT}/bindings/examples
    python test_FluidShake.py

![](imgs/FluidShake.gif)


**RiceGrip** - Grip an object that can deform both elastically and plastically (e.g., sticky rice).

    cd ${PYFLEXROOT}/bindings/examples
    python test_RiceGrip.py

![](imgs/RiceGrip.gif)


**RigidFall** - A stack of rigid cubes falling down.

    cd ${PYFLEXROOT}/bindings/examples
    python test_RigidFall.py

![](imgs/RigidFall.gif)


**FluidIceShake** - Shake a box of fluids and a rigid cube. The following script will first simulate the scene, and then playback the motion of the particles with the frontal wall removed for visualization.

    cd ${PYFLEXROOT}/bindings/examples
    python test_FluidIceShake.py

![](imgs/FluidIceShake.gif)


## APIs

Please see the example test scripts and the bottom of `bindings/pyflex.cpp` for available APIs.


## References

- NVIDIA FleX - 1.2.0 [README](doc/README_FleX.md)