[Bug]: Hybrid Entity-Soft Particles Generated inside Rigid Component #2288
Description
Bug Description
When using hybrid material, the soft particles were not only grown on the rigid body, but also appeared inside the rigid body. We wonder if this is designed on purpose, or if this is a bug
Many white particles were half inside the rigid cube
After changing the transprancy of the cube, we can see there are a lot of particles inside the cube
I read through the hybrid entity.py. and I think it is this part of code that let particles generated all over the body
As we can see, the mesh is only equal to the outer_mesh, and the inner_mesh was not used.
Steps to Reproduce
Attached zip file contains the program and the urdf file
Expected Behavior
We were expecting the soft particles to be generated only outside the rigid body
Screenshots/Videos
No response
Relevant log output
[Genesis] [12:33:55] [INFO] ╭───────────────────────────────────────────────╮
[Genesis] [12:33:55] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
[Genesis] [12:33:55] [INFO] ╰───────────────────────────────────────────────╯
[Genesis] [12:33:55] [WARNING] Torch GPU backend not available. Falling back to CPU device.
[Genesis] [12:34:07] [INFO] Running on [11th Gen Intel(R) Core(TM) i7-11370H @ 3.30GHz] with backend gs.vulkan. Device memory: 31.84 GB.
[Genesis] [12:34:07] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.11, 🎨 theme: dark, 🌱 seed: gs.cpu, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
[Genesis] [12:34:21] [WARNING] Using a simulation timestep smaller than 2ms is not recommended for 'use_gjk_collision=False' as it could lead to numerically unstable collision detection.
[Genesis] [12:34:22] [INFO] Scene <1a18368> created.
[Genesis] [12:34:22] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0aa35b5>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [12:34:23] [INFO] Adding <gs.HybridEntity>. idx: 1, uid: <3a17e8f>, morph: <gs.morphs.URDF(file='C:\Users\lulu\PycharmProjects\GenSim\Test_Functionality\deformdemo\objects\AutoCube.urdf')>, material: <gs.materials.Hybrid>.
[Genesis] [12:34:23] [INFO] Use default coupling in hybrid. Overwrite `needs_coup` in rigid material to False
[Genesis] [12:34:23] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <0107845>, morph: <gs.morphs.URDF(file='C:\Users\lulu\PycharmProjects\GenSim\Test_Functionality\deformdemo\objects\AutoCube.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [12:34:23] [INFO] Applying offset to base link's pose with user provided value in morph.
[Genesis] [12:34:23] [INFO] Adding <gs.MPMEntity>. idx: 2, uid: <12a5d19>, morph: <gs.morphs.MeshSet(file='C:\Users\lulu\PycharmProjects\GenSim\Test_Functionality\deformdemo')>, material: <gs.materials.MPM.Muscle>.
[Genesis] [12:34:23] [INFO] Sampled 10,648 particles.
[Genesis] [12:34:25] [INFO] Building scene <1a18368>...
[Genesis] [12:34:37] [INFO] Compiling simulation kernels...
C:\Users\lulu\anaconda3\envs\env-genesis\lib\site-packages\gstaichi\_test_tools\warnings_helper.py:11: UserWarning:
cannot create weak reference to 'tuple' object. Template mapper caching disabled.
[Genesis] [12:35:07] [INFO] Building visualizer...
[Genesis] [12:35:09] [INFO] Viewer created. Resolution: 1600×1200, max_FPS: 60.
[Genesis] [12:35:16] [INFO] Running at 0.32 FPS.
[Genesis] [12:35:21] [INFO] Running at 0.19 FPS.
[Genesis] [12:35:25] [INFO] Running at 0.19 FPS.
[Genesis] [12:35:31] [INFO] Running at 0.19 FPS.
[Genesis] [12:35:35] [INFO] Running at 0.19 FPS.Environment
- OS: Windows 11
- GPU/CPU: CPU
- GPU-driver version: N/A
- CUDA / CUDA-toolkit version: N/A
Release version or Commit ID
Genesis 0.3.11
Additional Context
No response