add include UVs flag

Author: alelievr

genesis/engine/entities/particle_entity.py

@@ -184,7 +184,6 @@ def _add_to_solver(self):
         self._add_particles_to_solver()
         if self._need_skinning:
             self._add_vverts_to_solver()
-            self._add_uvs_and_faces_to_solver()
 
     def _add_particles_to_solver(self):
         raise NotImplementedError
@@ -230,47 +229,6 @@ def _kernel_add_vverts_to_solver(
             for j in range(self.solver._n_vvert_supports):
                 self.solver.vverts_info.support_idxs[i_vv][j] = support_idxs_local[i_vv_, j] + self._particle_start
 
-    def _add_uvs_and_faces_to_solver(self):
-        """Add UV coordinates and face indices to the solver's global buffers."""
-        # Get UVs from vmesh (may be None if no texture)
-        uvs = self._vmesh.uvs if self._vmesh is not None else None
-        if uvs is not None and len(uvs) == self.n_vverts:
-            uvs_np = np.asarray(uvs, dtype=gs.np_float)
-        else:
-            # No UVs available, use zeros
-            uvs_np = np.zeros((self.n_vverts, 2), dtype=gs.np_float)
-
-        # Get face indices and offset them by vvert_start for global indexing
-        faces_np = np.asarray(self._vfaces, dtype=gs.np_int)
-
-        self._kernel_add_uvs_and_faces_to_solver(
-            uvs=uvs_np,
-            faces=faces_np,
-        )
-
-    @ti.kernel
-    def _kernel_add_uvs_and_faces_to_solver(
-        self,
-        uvs: ti.types.ndarray(element_dim=1),
-        faces: ti.types.ndarray(element_dim=1),
-    ):
-        # Copy UVs to solver's global UV buffer
-        for i_vv_ in range(self.n_vverts):
-            i_vv = i_vv_ + self._vvert_start
-            self.solver.vverts_uvs[i_vv] = uvs[i_vv_]
-
-        # Copy faces to solver's global face buffer (with global vertex indices)
-        for i_vf_ in range(self.n_vfaces):
-            i_vf = i_vf_ + self._vface_start
-            # Offset face indices by vvert_start for global vertex indexing
-            self.solver.vfaces_indices[i_vf] = ti.Vector(
-                [
-                    ti.cast(faces[i_vf_][0], gs.ti_int) + self._vvert_start,
-                    ti.cast(faces[i_vf_][1], gs.ti_int) + self._vvert_start,
-                    ti.cast(faces[i_vf_][2], gs.ti_int) + self._vvert_start,
-                ]
-            )
-
     def sample(self):
         """
         Sample particles from the morph based on its type and the specified sampler.

genesis/engine/entities/pbd_entity.py

@@ -13,6 +13,50 @@ class PBDBaseEntity(ParticleEntity):
     Base class for PBD entity.
     """
 
+    def _add_to_solver(self):
+        super()._add_to_solver()
+        self._add_uvs_and_faces_to_solver()
+
+    def _add_uvs_and_faces_to_solver(self):
+        """Add UV coordinates and face indices to the solver's global buffers."""
+        # Get UVs from vmesh (may be None if no texture)
+        uvs = self._vmesh.uvs if self._vmesh is not None else None
+        if uvs is not None and len(uvs) == self.n_vverts:
+            uvs_np = np.asarray(uvs, dtype=gs.np_float)
+        else:
+            # No UVs available, use zeros
+            uvs_np = np.zeros((self.n_vverts, 2), dtype=gs.np_float)
+
+        # Get face indices
+        faces_np = np.asarray(self._vfaces, dtype=gs.np_int)
+
+        self._kernel_add_uvs_and_faces_to_solver(
+            uvs=uvs_np,
+            faces=faces_np,
+        )
+
+    @ti.kernel
+    def _kernel_add_uvs_and_faces_to_solver(
+        self,
+        uvs: ti.types.ndarray(element_dim=1),
+        faces: ti.types.ndarray(element_dim=1),
+    ):
+        # Copy UVs to solver's global UV buffer
+        for i_vv_ in range(self.n_vverts):
+            i_vv = i_vv_ + self._vvert_start
+            self.solver.vverts_uvs[i_vv] = uvs[i_vv_]
+
+        # Copy faces to solver's global face buffer (with global vertex indices)
+        for i_vf_ in range(self.n_vfaces):
+            i_vf = i_vf_ + self._vface_start
+            self.solver.vfaces_indices[i_vf] = ti.Vector(
+                [
+                    ti.cast(faces[i_vf_][0], gs.ti_int) + self._vvert_start,
+                    ti.cast(faces[i_vf_][1], gs.ti_int) + self._vvert_start,
+                    ti.cast(faces[i_vf_][2], gs.ti_int) + self._vvert_start,
+                ]
+            )
+
     @gs.assert_built
     def set_particles_pos(self, poss, particles_idx_local=None, envs_idx=None):
         envs_idx = self._scene._sanitize_envs_idx(envs_idx)

genesis/engine/solvers/fem_solver.py

@@ -1099,13 +1099,15 @@ def get_state(self, f):
             state = None
         return state
 
-    def get_state_render(self, f):
+    def get_state_render(self, f, include_uvs=False):
         self.get_state_render_kernel(f)
         vertices = self.surface_render_v.vertices
         indices = self.surface_render_f.indices
-        uvs = self.surface_render_uvs
 
-        return vertices, indices, uvs
+        if include_uvs:
+            uvs = self.surface_render_uvs
+            return vertices, indices, uvs
+        return vertices, indices
 
     def get_forces(self):
         """