DiffTaichi

https://github.com/taichi-dev/difftaichi
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DiffTaichi is a differentiable programming framework for physical simulation that enables efficient...
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### Perform Automatic Differentiation with ti.ad.Tape

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Shows how to use the Tape context manager to record kernel operations and compute gradients for optimization. The example includes a forward simulation pass followed by gradient descent to update initial velocity parameters.

```python
import taichi as ti
import matplotlib.pyplot as plt

ti.init(default_fp=ti.f32, arch=ti.gpu)

steps = 1024
loss = ti.field(dtype=ti.f32, shape=(), needs_grad=True)
init_v = ti.Vector.field(2, dtype=ti.f32, shape=(), needs_grad=True)

# Optimization loop
learning_rate = 10
for iteration in range(30):
    with ti.ad.Tape(loss=loss):
        forward() # Executes simulation kernels

    grad = init_v.grad[None]
    init_v[None][0] -= learning_rate * grad[0]
    init_v[None][1] -= learning_rate * grad[1]
```

--------------------------------

### Install DiffTaichi Dependencies

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Commands to install the Taichi framework and its required scientific and visualization libraries via pip.

```bash
python3 -m pip install taichi
pip install matplotlib numpy opencv-python scipy imageio torch torchvision
cd examples
python3 diffmpm.py
```

--------------------------------

### Billiard Collision Simulator with Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

A differentiable collision simulator for billiard balls using Taichi. This example optimizes the initial position and velocity of the cue ball to hit a target ball into a goal position, demonstrating gradient-based optimization through collision dynamics. Key parameters include elasticity, time step, and learning rate.

```python
import taichi as ti
import math
import numpy as np

real = ti.f32
ti.init(default_fp=real)

max_steps = 2048
steps = 1024
billiard_layers = 4
n_balls = 1 + (1 + billiard_layers) * billiard_layers // 2
target_ball = n_balls - 1
goal = [0.9, 0.75]
radius = 0.03
elasticity = 0.8
dt = 0.003
learning_rate = 0.01
```

--------------------------------

### GUI Initialization and Rendering

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Methods to initialize the simulation viewer window and render geometric primitives like circles and lines to represent physical states.

```APIDOC
## GUI Initialization

### Description
Initializes a new Taichi GUI window for visualizing simulation frames.

### Method
Constructor

### Endpoint
ti.GUI(name, res, background_color)

### Parameters
#### Path Parameters
- **name** (string) - Required - The title of the window.
- **res** (tuple) - Required - Resolution of the window (width, height).
- **background_color** (hex) - Optional - Background color in hex format.

### Request Example
gui = ti.GUI("Simulation Viewer", res=(640, 640), background_color=0xFFFFFF)

## Render Particles

### Description
Draws a set of particles as circles on the current GUI frame.

### Method
POST

### Endpoint
gui.circles(pos, color, radius)

### Parameters
#### Request Body
- **pos** (numpy.ndarray) - Required - Array of particle positions.
- **color** (hex/list) - Required - Color or list of colors for particles.
- **radius** (float) - Required - Radius of the circles.

### Response
- **Success** (void) - Renders the shapes to the internal buffer.
```

--------------------------------

### Taichi GUI for Real-time Simulation Visualization

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

This snippet demonstrates initializing Taichi and setting up a field for storing particle positions over time, intended for use with Taichi's GUI for real-time visualization. It requires the 'taichi' library.

```python
import taichi as ti

ti.init()

n_particles = 1000
steps = 512
x = ti.Vector.field(2, dtype=ti.f32, shape=(steps, n_particles))
```

--------------------------------

### Create GUI Window with Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Initializes a graphical user interface window for visualizing simulations. It sets the window title, resolution, and background color. This is a prerequisite for displaying any visual elements.

```python
gui = ti.GUI("Simulation Viewer", res=(640, 640), background_color=0xFFFFFF)
```

--------------------------------

### Visualization with Taichi GUI

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Real-time visualization of simulations using Taichi's built-in GUI.

```APIDOC
## Taichi GUI Visualization

### Description

Taichi provides a built-in GUI module that allows for real-time visualization of simulations. This is particularly useful for debugging and understanding the behavior of particle-based simulations created with the Scene class.

### Usage

To use the Taichi GUI, you typically need to initialize Taichi, define your simulation fields (e.g., particle positions), and then create a window to display them.

### Code Example

```python
import taichi as ti

ti.init()

# Define simulation parameters
n_particles = 1000
steps = 512

# Create a field to store particle positions over time
# x is a 2D vector field, storing 2D positions for each particle at each time step
x = ti.Vector.field(2, dtype=ti.f32, shape=(steps, n_particles))

# --- Simulation logic would go here ---
# For example, updating particle positions in a loop:
# for t in range(steps):
#     for i in range(n_particles):
#         # Update x[t, i] based on physics simulation
#         pass

# --- GUI Setup ---
# Create a window for visualization
# The window size can be adjusted as needed
window = ti.ui.Window('MPM Simulation', size=(512, 512))
canvas = window.canvas

# --- Rendering Loop ---
# This loop would typically run as part of your simulation update
# For demonstration, let's assume we are rendering the last frame
current_frame = steps - 1

# Clear the canvas for the new frame
canvas.clear(0x333333) # Clear with a dark grey color

# Draw particles
# You can customize the color and size of the particles
# Here, we draw each particle as a small circle
# The 'radius' parameter controls the size of the drawn circle
# The 'color' parameter is an RGBA integer
canvas.particles(x[current_frame], radius=1.5, color=0x00FF00) # Green particles

# Update the window to show the rendered frame
window.show()

# Note: In a real application, the rendering would be inside your main simulation loop
# to update the visualization in real-time.
```

### Parameters

- **`ti.init()`**: Initializes the Taichi runtime. Should be called once at the beginning.
- **`ti.Vector.field(dim, dtype, shape)`**: Creates a Taichi field for storing vectors. `dim` is the vector dimension (e.g., 2 for 2D), `dtype` is the data type (e.g., `ti.f32`), and `shape` defines the dimensions of the field.
- **`ti.ui.Window(title, size)`**: Creates a GUI window for rendering. `title` is the window's title bar text, and `size` is a tuple `(width, height)` in pixels.
- **`window.canvas`**: Provides access to the drawing canvas of the window.
- **`canvas.clear(color)`**: Clears the canvas with a specified color (RGBA integer format).
- **`canvas.particles(field, radius, color)`**: Draws particles from a given field. `field` should be a Taichi field containing particle positions. `radius` controls the size of the drawn particles, and `color` sets the particle color.
- **`window.show()`**: Updates the window to display the contents drawn on the canvas.
```

--------------------------------

### Training Loop with Gradient Clipping

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Executes the optimization process using Taichi's automatic differentiation tape. It includes loss calculation, gradient computation, and manual weight updates with gradient clipping.

```python
for iter in range(100):
    with ti.ad.Tape(loss):
        forward()
    total_norm = 0.0
    # ... (gradient calculation logic) ...
    clip = 0.2
    scale = min(1.0, clip / (math.sqrt(total_norm) + 1e-6))
    for i in range(n_hidden):
        for j in range(n_input_states()):
            weights1[i, j] -= scale * learning_rate * weights1.grad[i, j]
        bias1[i] -= scale * learning_rate * bias1.grad[i]
```

--------------------------------

### Initialize Taichi Runtime

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Configures the Taichi runtime environment, specifying the backend architecture (CPU/GPU), floating-point precision, and memory limits. This must be invoked before defining any fields or kernels.

```python
import taichi as ti

# Initialize with GPU backend and 32-bit floats
real = ti.f32
tie.init(default_fp=real, arch=ti.gpu, flatten_if=True)

# For CPU-only execution
tie.init(default_fp=ti.f32, arch=ti.cpu)

# With GPU memory limit (for large simulations)
tie.init(default_fp=real, arch=ti.cuda, device_memory_GB=4.5)
```

--------------------------------

### Scene Configuration API

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Utilities for creating rectangular particle regions with different material types and actuator assignments for MPM simulations.

```APIDOC
## Scene Class

### Description

The Scene class provides utilities for creating rectangular particle regions with different material types and actuator assignments, enabling the construction of soft robots and complex scenes for MPM simulations.

### Methods

- **`__init__(self)`**: Initializes a new Scene object with empty particle data and default offsets.
- **`new_actuator(self)`**: Creates a new actuator and returns its ID. Each actuator must have a unique ID.
- **`set_offset(self, x, y)`**: Sets a position offset for all subsequent shapes added to the scene. This is useful for positioning elements relative to a common origin.
- **`add_rect(self, x, y, w, h, actuation, ptype=1, dx=1/128)`**: Adds a rectangular region of particles to the scene.
    - **`x, y`** (float): The position of the bottom-left corner of the rectangle.
    - **`w, h`** (float): The width and height of the rectangle.
    - **`actuation`** (int): The actuator ID for the particles. Use -1 for passive particles.
    - **`ptype`** (int, optional): The particle type. 0 for fluid, 1 for solid. Defaults to 1 (solid).
    - **`dx`** (float, optional): The grid spacing used to determine particle density. Defaults to 1/128.
- **`finalize(self)`**: Finalizes the scene construction and returns a dictionary containing particle data, including positions, actuator IDs, particle types, and counts.

### Request Body Example (Conceptual - This is a Python class)

```python
# Initialization
scene = Scene()

# Setting an offset
scene.set_offset(0.1, 0.03)

# Adding a passive solid rectangle
scene.add_rect(x=0.0, y=0.1, w=0.3, h=0.1, actuation=-1, ptype=1)

# Adding an actuated rectangle (leg)
leg_actuator_id = scene.new_actuator()
scene.add_rect(x=0.0, y=0.0, w=0.05, h=0.1, actuation=leg_actuator_id)

# Finalizing the scene to get particle data
particle_data = scene.finalize()
```

### Response Example (Conceptual - This is a Python class)

```python
# Output of scene.finalize()
{
    'x': numpy.ndarray,  # Array of particle positions (N, 2)
    'actuator_id': numpy.ndarray,  # Array of actuator IDs (N,)
    'particle_type': numpy.ndarray,  # Array of particle types (N,)
    'n_particles': int,  # Total number of particles
    'n_solid_particles': int,  # Number of solid particles
    'n_actuators': int  # Number of actuators created
}
```
```

--------------------------------

### Visualize Simulation Steps with Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Renders simulation frames at specified intervals. It retrieves particle positions, draws them as circles, adds a ground line, and marks a target position. The visualization can be displayed live or saved to a file.

```python
def visualize_simulation():
    for t in range(1, steps):
        # ... run simulation step ...

        # Visualize every 16 frames
        if t % 16 == 0:
            # Get particle positions as numpy array
            particles = x.to_numpy()[t]

            # Draw particles as circles
            gui.circles(pos=particles, color=0x112233, radius=3)

            # Draw ground line
            gui.line(begin=(0.0, 0.1), end=(1.0, 0.1), color=0x000000, radius=2)

            # Draw target position
            gui.circle(pos=(0.8, 0.2), color=0xFF0000, radius=10)

            # Show frame (use gui.show('filename.png') to save)
            gui.show()
```

--------------------------------

### Mass-Spring System Simulator with Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

A differentiable mass-spring system for soft body simulation. It models interconnected mass points with springs and uses gradient-based optimization to learn spring rest lengths for a target configuration. Dependencies include Taichi, math, numpy, and matplotlib.

```python
import taichi as ti
import math
import numpy as np
import matplotlib.pyplot as plt

real = ti.f32
ti.init(default_fp=real)

max_steps = 1024
steps = 1024
n_objects = 3
n_springs = 3
mass = 1
spring_stiffness = 10
damping = 20
dt = 0.001
learning_rate = 5

# Define fields
x = ti.Vector.field(2, dtype=real, shape=(max_steps, n_objects), needs_grad=True)
v = ti.Vector.field(2, dtype=real, shape=(max_steps, n_objects), needs_grad=True)
force = ti.Vector.field(2, dtype=real, shape=(max_steps, n_objects), needs_grad=True)
spring_anchor_a = ti.field(ti.i32, shape=n_springs)
spring_anchor_b = ti.field(ti.i32, shape=n_springs)
spring_length = ti.field(dtype=real, shape=n_springs, needs_grad=True)
loss = ti.field(dtype=real, shape=(), needs_grad=True)

@ti.kernel
def apply_spring_force(t: ti.i32):
    for i in range(n_springs):
        a, b = spring_anchor_a[i], spring_anchor_b[i]
        x_a, x_b = x[t - 1, a], x[t - 1, b]
        dist = x_a - x_b
        length = dist.norm() + 1e-4

        # Hooke's law: F = k * (length - rest_length) * direction
        F = (length - spring_length[i]) * spring_stiffness * dist / length

        # Apply equal and opposite forces (Newton's 3rd law)
        ti.atomic_add(force[t, a], -F)
        ti.atomic_add(force[t, b], F)

@ti.kernel
def time_integrate(t: ti.i32):
    for i in range(n_objects):
        # Velocity damping
        s = math.exp(-dt * damping)
        new_v = s * v[t - 1, i] + dt * force[t, i] / mass
        new_x = x[t - 1, i] + dt * new_v

        # Simple collision with right wall
        if new_x[0] > 0.4 and new_v[0] > 0:
            new_v[0] = 0

        v[t, i] = new_v
        x[t, i] = new_x

@ti.kernel
def compute_loss(t: ti.i32):
    # Compute triangle area formed by the 3 masses
    x01 = x[t, 0] - x[t, 1]
    x02 = x[t, 0] - x[t, 2]
    area = ti.abs(0.5 * (x01[0] * x02[1] - x01[1] * x02[0]))
    target_area = 0.1
    loss[None] = (area - target_area)**2

@ti.kernel
def clear_forces():
    for t in range(max_steps):
        for i in range(n_objects):
            force[t, i] = ti.Vector([0.0, 0.0])

def forward():
    for t in range(1, steps):
        apply_spring_force(t)
        time_integrate(t)
    compute_loss(steps - 1)

# Initialize mass positions (triangle)
x[0, 0] = [0.3, 0.5]
x[0, 1] = [0.3, 0.4]
x[0, 2] = [0.4, 0.4]

# Initialize springs connecting the masses
spring_anchor_a[0], spring_anchor_b[0], spring_length[0] = 0, 1, 0.1
spring_anchor_a[1], spring_anchor_b[1], spring_length[1] = 1, 2, 0.1
spring_anchor_a[2], spring_anchor_b[2], spring_length[2] = 2, 0, 0.1 * math.sqrt(2)

# Optimization loop
losses = []
for iter in range(25):
    clear_forces()

    with ti.ad.Tape(loss):
        forward()

    print(f'Iter={iter}, Loss={loss[None]:.6f}')
    losses.append(loss[None])

    # Update spring rest lengths via gradient descent
    for i in range(n_springs):
        spring_length[i] -= learning_rate * spring_length.grad[i]

# Print optimized spring lengths
for i in range(n_springs):
    print(f'Spring {i}: rest_length = {spring_length[i]:.4f}')

plt.plot(losses)
plt.xlabel('Gradient descent iterations')
plt.ylabel('Loss')
plt.title('Spring Rest Length Optimization')
plt.show()
```

--------------------------------

### Define Differentiable GPU Kernels with Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Demonstrates how to create parallel kernels for particle-to-grid (P2G) and grid-to-particle (G2P) transfers. These kernels use Taichi fields with needs_grad=True to enable automatic gradient computation during simulation steps.

```python
import taichi as ti
import math

ti.init(default_fp=ti.f32, arch=ti.gpu)

n_particles = 3600
n_grid = 120
dx = 1 / n_grid
inv_dx = n_grid
dt = 3e-4
gravity = 9.8

x = ti.Vector.field(2, dtype=ti.f32, shape=(1024, n_particles), needs_grad=True)
v = ti.Vector.field(2, dtype=ti.f32, shape=(1024, n_particles), needs_grad=True)
grid_v = ti.Vector.field(2, dtype=ti.f32, shape=(1024, n_grid, n_grid), needs_grad=True)
grid_m = ti.field(dtype=ti.f32, shape=(1024, n_grid, n_grid), needs_grad=True)

@ti.kernel
def p2g(f: ti.i32):
    for p in range(n_particles):
        base = ti.cast(x[f, p] * inv_dx - 0.5, ti.i32)
        fx = x[f, p] * inv_dx - ti.cast(base, ti.i32)
        w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1)**2, 0.5 * (fx - 0.5)**2]
        for i in ti.static(range(3)):
            for j in ti.static(range(3)):
                offset = ti.Vector([i, j])
                weight = w[i][0] * w[j][1]
                grid_v[f, base + offset] += weight * v[f, p]
                grid_m[f, base + offset] += weight

@ti.kernel
def g2p(f: ti.i32):
    for p in range(n_particles):
        base = ti.cast(x[f, p] * inv_dx - 0.5, ti.i32)
        fx = x[f, p] * inv_dx - ti.cast(base, ti.f32)
        w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1.0)**2, 0.5 * (fx - 0.5)**2]
        new_v = ti.Vector([0.0, 0.0])
        for i in ti.static(range(3)):
            for j in ti.static(range(3)):
                weight = w[i][0] * w[j][1]
                new_v += weight * grid_v[f, base[0] + i, base[1] + j]
        v[f + 1, p] = new_v
        x[f + 1, p] = x[f, p] + dt * new_v
```

--------------------------------

### MPM Elastic Object Simulation in Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

This Python script implements a 2D MPM simulator for elastic materials with a Neo-Hookean model. It initializes particles, defines simulation parameters, and uses Taichi's kernels for P2G, grid operations, and G2P transfers. The simulation optimizes initial velocity to reach a target position using automatic differentiation.

```Python
import taichi as ti
import numpy as np
import matplotlib.pyplot as plt

real = ti.f32
ti.init(arch=ti.cuda, default_fp=real)

# Simulation parameters
dim = 2
N = 60
n_particles = N * N
n_grid = 120
dx = 1 / n_grid
inv_dx = n_grid
dt = 3e-4
p_mass = 1
p_vol = 1
E = 100  # Young's modulus
mu = E   # Shear modulus
la = E   # Lame's first parameter
steps = 1024
gravity = 9.8
target = [0.3, 0.6]

# Define fields
x = ti.Vector.field(dim, dtype=real, shape=(steps, n_particles), needs_grad=True)
v = ti.Vector.field(dim, dtype=real, shape=(steps, n_particles), needs_grad=True)
C = ti.Matrix.field(dim, dim, dtype=real, shape=(steps, n_particles), needs_grad=True)
F = ti.Matrix.field(dim, dim, dtype=real, shape=(steps, n_particles), needs_grad=True)
grid_v_in = ti.Vector.field(dim, dtype=real, shape=(steps, n_grid, n_grid), needs_grad=True)
grid_v_out = ti.Vector.field(dim, dtype=real, shape=(steps, n_grid, n_grid), needs_grad=True)
grid_m = ti.field(dtype=real, shape=(steps, n_grid, n_grid), needs_grad=True)
init_v = ti.Vector.field(dim, dtype=real, shape=(), needs_grad=True)
x_avg = ti.Vector.field(dim, dtype=real, shape=(), needs_grad=True)
loss = ti.field(dtype=real, shape=(), needs_grad=True)

@ti.kernel
def p2g(f: ti.i32):
    for p in range(n_particles):
        base = ti.cast(x[f, p] * inv_dx - 0.5, ti.i32)
        fx = x[f, p] * inv_dx - ti.cast(base, ti.i32)
        w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1)**2, 0.5 * (fx - 0.5)**2]

        # Update deformation gradient
        new_F = (ti.Matrix.diag(dim=2, val=1) + dt * C[f, p]) @ F[f, p]
        F[f + 1, p] = new_F
        J = new_F.determinant()

        # Neo-Hookean stress computation
        r, s = ti.polar_decompose(new_F)
        cauchy = 2 * mu * (new_F - r) @ new_F.transpose() + \
                 ti.Matrix.diag(2, la * (J - 1) * J)
        stress = -(dt * p_vol * 4 * inv_dx * inv_dx) * cauchy
        affine = stress + p_mass * C[f, p]

        # Scatter to grid
        for i, j in ti.static(ti.ndrange(3, 3)):
            offset = ti.Vector([i, j])
            dpos = (ti.cast(ti.Vector([i, j]), real) - fx) * dx
            weight = w[i][0] * w[j][1]
            grid_v_in[f, base + offset] += weight * (p_mass * v[f, p] + affine @ dpos)
            grid_m[f, base + offset] += weight * p_mass

@ti.kernel
def grid_op(f: ti.i32):
    for i, j in ti.ndrange(n_grid, n_grid):
        inv_m = 1 / (grid_m[f, i, j] + 1e-10)
        v_out = inv_m * grid_v_in[f, i, j]
        v_out[1] -= dt * gravity

        # Boundary conditions
        bound = 3
        if i < bound and v_out[0] < 0: v_out[0] = 0
        if i > n_grid - bound and v_out[0] > 0: v_out[0] = 0
        if j < bound and v_out[1] < 0: v_out[1] = 0
        if j > n_grid - bound and v_out[1] > 0: v_out[1] = 0
        grid_v_out[f, i, j] = v_out

@ti.kernel
def g2p(f: ti.i32):
    for p in range(n_particles):
        base = ti.cast(x[f, p] * inv_dx - 0.5, ti.i32)
        fx = x[f, p] * inv_dx - ti.cast(base, real)
        w = [0.5 * (1.5 - fx)**2, 0.75 - (fx - 1.0)**2, 0.5 * (fx - 0.5)**2]

        new_v = ti.Vector([0.0, 0.0])
        new_C = ti.Matrix([[0.0, 0.0], [0.0, 0.0]])

        for i, j in ti.static(ti.ndrange(3, 3)):
            dpos = ti.cast(ti.Vector([i, j]), real) - fx
            g_v = grid_v_out[f, base[0] + i, base[1] + j]
            weight = w[i][0] * w[j][1]
            new_v += weight * g_v
            new_C += 4 * weight * g_v.outer_product(dpos) * inv_dx

        v[f + 1, p] = new_v
        x[f + 1, p] = x[f, p] + dt * new_v
        C[f + 1, p] = new_C

@ti.kernel
def compute_loss():
    for i in range(n_particles):
        x_avg[None] += (1.0 / n_particles) * x[steps - 1, i]
    dist = (x_avg[None] - ti.Vector(target))**2
    loss[None] = 0.5 * (dist[0] + dist[1])

# Initialize particles in a grid pattern
for i in range(N):
    for j in range(N):
        x[0, i * N + j] = [dx * (i * 0.7 + 10), dx * (j * 0.7 + 25)]
        F[0, i * N + j] = [[1, 0], [0, 1]]

# Optimization
init_v[None] = [0, 0]
losses = []

for iter in range(30):
    grid_v_in.fill(0)
    grid_m.fill(0)
    x_avg[None] = [0, 0]

    with ti.ad.Tape(loss=loss):
        for s in range(steps - 1):
            p2g(s)
            grid_op(s)
            g2p(s)
        compute_loss()

    losses.append(loss[None])
    grad = init_v.grad[None]
    print(f'Iter {iter}: loss={loss[None]:.6f}')

    learning_rate = 10
    init_v[None][0] -= learning_rate * grad[0]
    init_v[None][1] -= learning_rate * grad[1]

```

--------------------------------

### Hierarchical Field Allocation

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Uses ti.root for structured memory layout and lazy_grad() to automatically generate gradient fields for complex simulations.

```python
import taichi as ti

tie.init(default_fp=ti.f32)

# ... field declarations ...

def allocate_fields():
    # Neural network weights: (n_actuators, n_sin_waves)
    ti.root.dense(ti.ij, (n_actuators, n_sin_waves)).place(weights)
    ti.root.dense(ti.i, n_actuators).place(bias)

    # Time-indexed particle data: (max_steps, n_particles)
    ti.root.dense(ti.k, max_steps).dense(ti.l, n_particles).place(x, v, C, F)

    # Grid data: (n_grid, n_grid)
    ti.root.dense(ti.ij, n_grid).place(grid_v_in, grid_m_in, grid_v_out)

    # Scalar loss
    ti.root.place(loss)

    # Automatically create gradient fields for all placed fields
    ti.root.lazy_grad()

allocate_fields()
```

--------------------------------

### Wave Equation Simulator using FDTD in Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

This Taichi code implements a differentiable height-field water wave simulator using the Finite-Difference Time-Domain (FDTD) method. It's designed to optimize an initial wave pattern to match a target image after wave propagation. The simulation includes parameters for grid size, wave speed, damping, and time step calculation based on the CFL condition.

```Python
import taichi as ti
import math
import numpy as np
import cv2

real = ti.f32
ti.init(default_fp=real, arch=ti.cuda)

n_grid = 256
dx = 1 / n_grid
inv_dx = n_grid
max_steps = 512
steps = 256
c = 340  # Wave speed
alpha = 0.0  # Damping coefficient
learning_rate = 1.0

# Time step based on CFL condition
dt = (math.sqrt(alpha * alpha + dx * dx / 3) - alpha) / c
```

--------------------------------

### Taichi FDTD 2D Wave Equation Solver

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Implements a 2D wave equation solver using the finite difference time domain (FDTD) method in Taichi. It defines fields for simulation state, boundary conditions, and loss calculation, and includes functions for initialization, time stepping, and gradient application.

```python
p = ti.field(dtype=real, shape=(max_steps, n_grid, n_grid), needs_grad=True)
target = ti.field(dtype=real, shape=(n_grid, n_grid), needs_grad=True)
initial = ti.field(dtype=real, shape=(n_grid, n_grid), needs_grad=True)
loss = ti.field(dtype=real, shape=(), needs_grad=True)

@ti.func
def get_p(t, i, j):
    # Boundary handling: zero outside domain
    return p[t, i, j] if 0 <= i < n_grid and 0 <= j < n_grid else 0.0

@ti.func
def laplacian(t, i, j):
    # 5-point stencil Laplacian
    inv_dx2 = inv_dx * inv_dx
    return inv_dx2 * (-4 * get_p(t, i, j) +
                       get_p(t, i, j - 1) + get_p(t, i, j + 1) +
                       get_p(t, i + 1, j) + get_p(t, i - 1, j))

@ti.kernel
def initialize():
    for i, j in ti.ndrange(n_grid, n_grid):
        p[0, i, j] = initial[i, j]
        p[1, i, j] = initial[i, j]

@ti.kernel
def fdtd(t: ti.i32):
    """2D wave equation: d²p/dt² = c² * ∇²p"""
    for i, j in ti.ndrange(n_grid, n_grid):
        laplacian_p = laplacian(t - 2, i, j)
        laplacian_q = laplacian(t - 1, i, j)

        # Second-order finite difference in time with damping
        p[t, i, j] = (2 * p[t - 1, i, j] +
                      (c * c * dt * dt + c * alpha * dt) * laplacian_q -
                      p[t - 2, i, j] - c * alpha * dt * laplacian_p)

@ti.kernel
def compute_loss(t: ti.i32):
    for i, j in ti.ndrange(n_grid, n_grid):
        loss[None] += dx * dx * (target[i, j] - p[t, i, j])**2

@ti.kernel
def apply_grad():
    for i, j in initial.grad:
        initial[i, j] -= learning_rate * initial.grad[i, j]

def forward():
    initialize()
    for t in range(2, steps):
        fdtd(t)
    compute_loss(steps - 1)

# Load target image
target_img = cv2.imread('taichi.png', cv2.IMREAD_GRAYSCALE) / 255.0
target_img -= target_img.mean()
target_img = cv2.resize(target_img, (n_grid, n_grid))

@ti.kernel
def fill_target(img: ti.types.ndarray()):
    for i, j in ti.ndrange(n_grid, n_grid):
        target[i, j] = float(img[i, j])

fill_target(target_img.astype(np.float32))

# Optimization
for opt in range(200):
    with ti.ad.Tape(loss):
        forward()

    print(f'Iter {opt}, Loss = {loss[None]:.6f}')
    apply_grad()
```

--------------------------------

### Taichi Scene Class for MPM Simulations

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

The Scene class facilitates the creation of rectangular particle regions for MPM simulations. It supports different material types and actuator assignments, enabling the construction of soft robots and complex scenes. It requires the 'taichi' and 'numpy' libraries.

```python
import taichi as ti
import numpy as np

class Scene:
    def __init__(self):
        self.n_particles = 0
        self.n_solid_particles = 0
        self.x = []
        self.actuator_id = []
        self.particle_type = []
        self.offset_x = 0
        self.offset_y = 0
        self.num_actuators = 0

    def new_actuator(self):
        """Create a new actuator and return its ID"""
        self.num_actuators += 1
        return self.num_actuators - 1

    def set_offset(self, x, y):
        """Set position offset for subsequent shapes"""
        self.offset_x = x
        self.offset_y = y

    def add_rect(self, x, y, w, h, actuation, ptype=1, dx=1/128):
        """
        Add a rectangular region of particles.

        Args:
            x, y: Bottom-left corner position
            w, h: Width and height
            actuation: Actuator ID (-1 for passive)
            ptype: 0=fluid, 1=solid
            dx: Grid spacing
        """
        if ptype == 0:
            assert actuation == -1, "Fluid cannot be actuated"

        w_count = int(w / dx) * 2
        h_count = int(h / dx) * 2
        real_dx = w / w_count
        real_dy = h / h_count

        for i in range(w_count):
            for j in range(h_count):
                self.x.append([
                    x + (i + 0.5) * real_dx + self.offset_x,
                    y + (j + 0.5) * real_dy + self.offset_y
                ])
                self.actuator_id.append(actuation)
                self.particle_type.append(ptype)
                self.n_particles += 1
                self.n_solid_particles += int(ptype == 1)

    def finalize(self):
        """Finalize scene and return particle data"""
        return {
            'x': np.array(self.x, dtype=np.float32),
            'actuator_id': np.array(self.actuator_id, dtype=np.int32),
            'particle_type': np.array(self.particle_type, dtype=np.int32),
            'n_particles': self.n_particles,
            'n_solid_particles': self.n_solid_particles,
            'n_actuators': self.num_actuators
        }
```

```python
# Example: Build a walking robot
def build_robot():
    scene = Scene()
    scene.set_offset(0.1, 0.03)

    # Body (passive solid)
    scene.add_rect(0.0, 0.1, 0.3, 0.1, actuation=-1, ptype=1)

    # Legs with individual actuators
    scene.add_rect(0.0, 0.0, 0.05, 0.1, actuation=scene.new_actuator())
    scene.add_rect(0.05, 0.0, 0.05, 0.1, actuation=scene.new_actuator())
    scene.add_rect(0.2, 0.0, 0.05, 0.1, actuation=scene.new_actuator())
    scene.add_rect(0.25, 0.0, 0.05, 0.1, actuation=scene.new_actuator())

    return scene.finalize()

# Example: Build a fish with fluid
def build_fish():
    scene = Scene()

    # Water pool (fluid)
    scene.add_rect(0.025, 0.025, 0.95, 0.1, actuation=-1, ptype=0)

    # Fish body (passive solid)
    scene.add_rect(0.1, 0.2, 0.15, 0.05, actuation=-1, ptype=1)

    # Fish fins (actuated)
    scene.add_rect(0.1, 0.15, 0.025, 0.05, actuation=scene.new_actuator())
    scene.add_rect(0.125, 0.15, 0.025, 0.05, actuation=scene.new_actuator())
    scene.add_rect(0.2, 0.15, 0.025, 0.05, actuation=scene.new_actuator())
    scene.add_rect(0.225, 0.15, 0.025, 0.05, actuation=scene.new_actuator())

    return scene.finalize()

# Usage
robot_data = build_robot()
print(f"Robot: {robot_data['n_particles']} particles, {robot_data['n_actuators']} actuators")

fish_data = build_fish()
print(f"Fish: {fish_data['n_particles']} particles, {fish_data['n_actuators']} actuators")
```

--------------------------------

### Taichi Neural Network Controller for Soft Robots

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Demonstrates training a neural network to control soft robots using Taichi's differentiable programming capabilities. It defines network architecture, simulation fields, and spring mechanics for end-to-end training.

```python
import taichi as ti
import math
import numpy as np

real = ti.f32
ti.init(default_fp=real)

n_objects = 10
n_springs = 20
n_sin_waves = 10
n_hidden = 32
max_steps = 4096
steps = 2048
spring_omega = 10
dt = 0.004

# Network architecture: n_input -> n_hidden -> n_springs
def n_input_states():
    return n_sin_waves + 4 * n_objects + 2  # sin waves + positions/velocities + goal

# Simulation fields
x = ti.Vector.field(2, dtype=real, shape=(max_steps, n_objects), needs_grad=True)
v = ti.Vector.field(2, dtype=real, shape=(max_steps, n_objects), needs_grad=True)
center = ti.Vector.field(2, dtype=real, shape=max_steps, needs_grad=True)
goal = ti.Vector.field(2, dtype=real, shape=(), needs_grad=True)
loss = ti.field(dtype=real, shape=(), needs_grad=True)

# Spring fields
spring_anchor_a = ti.field(ti.i32, shape=n_springs)
spring_anchor_b = ti.field(ti.i32, shape=n_springs)
spring_length = ti.field(dtype=real, shape=n_springs)
spring_stiffness = ti.field(dtype=real, shape=n_springs)
spring_actuation = ti.field(dtype=real, shape=n_springs)

# Neural network weights
weights1 = ti.field(dtype=real, shape=(n_hidden, n_input_states()), needs_grad=True)
bias1 = ti.field(dtype=real, shape=n_hidden, needs_grad=True)
weights2 = ti.field(dtype=real, shape=(n_springs, n_hidden), needs_grad=True)
bias2 = ti.field(dtype=real, shape=n_springs, needs_grad=True)
```

--------------------------------

### Dynamic Visualization

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Methods for mapping simulation data to visual properties, such as color-coding particles based on actuation values.

```APIDOC
## visualize_with_color_mapping

### Description
Maps simulation actuation values to RGB colors for particle visualization.

### Method
GET

### Endpoint
visualize_with_color_mapping(t, actuations)

### Parameters
#### Query Parameters
- **t** (int) - Required - Current time step index.
- **actuations** (numpy.ndarray) - Required - Actuation data array for color mapping.

### Response
- **Success** (void) - Updates the GUI display with color-mapped particles.
```

--------------------------------

### Convert Taichi Fields to NumPy Arrays

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Demonstrates how to convert Taichi fields into NumPy arrays for integration with other libraries. This is crucial for using data from DiffTaichi simulations in frameworks like PyTorch or TensorFlow.

```python
particles = x.to_numpy()[t]
```

--------------------------------

### Visualize Particles with Color Mapping in Taichi

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Renders particles with colors determined by actuation values. It calculates RGB color components based on the actuation of each particle and converts them to a hex color format for display. This allows for visualizing the influence of control inputs.

```python
def visualize_with_color_mapping(t, actuations):
    """Visualize with actuation-based coloring"""
    particles = x.to_numpy()[t]
    colors = []

    for i in range(n_particles):
        # Color based on actuation value
        act = actuations[t, i] if i < len(actuations[t]) else 0
        r = 0.5 - act * 0.5
        g = 0.5 - abs(act) * 0.5
        b = 0.5 + act * 0.5
        colors.append(ti.rgb_to_hex((r, g, b)))

    gui.circles(pos=particles, color=colors, radius=2)
    gui.show()
```

--------------------------------

### Physics Simulation Kernels

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Implements the physics engine components including spring force application and object movement with gravity and ground collision.

```python
@ti.kernel
def apply_spring_force(t: ti.i32):
    for i in range(n_springs):
        a = spring_anchor_a[i]
        b = spring_anchor_b[i]
        dist = x[t, a] - x[t, b]
        length = dist.norm() + 1e-4
        target_length = spring_length[i] * (1.0 + spring_actuation[i] * act[t, i])
        impulse = dt * (length - target_length) * spring_stiffness[i] / length * dist
        v[t + 1, a] += -impulse
        v[t + 1, b] += impulse

@ti.kernel
def advance(t: ti.i32):
    gravity = ti.Vector([0.0, -4.8])
    damping = 15.0
    ground_height = 0.1
    for i in range(n_objects):
        s = math.exp(-dt * damping)
        new_v = s * v[t - 1, i] + dt * gravity
        new_x = x[t - 1, i] + dt * new_v
        if new_x[1] < ground_height and new_v[1] < 0:
            new_v = ti.Vector([0.0, 0.0])
        v[t, i] = new_v
        x[t, i] = new_x
```

--------------------------------

### Define Differentiable Fields

Source: https://context7.com/taichi-dev/difftaichi/llms.txt

Creates Taichi fields with automatic gradient tracking enabled by setting needs_grad=True. This allows the framework to backpropagate gradients through simulation steps.

```python
import taichi as ti

tie.init(default_fp=ti.f32, arch=ti.gpu)

dim = 2
n_particles = 8192
max_steps = 2048

# Create differentiable fields for particle positions and velocities
x = ti.Vector.field(dim, dtype=ti.f32, shape=(max_steps, n_particles), needs_grad=True)
v = ti.Vector.field(dim, dtype=ti.f32, shape=(max_steps, n_particles), needs_grad=True)

# Deformation gradient matrix field
F = ti.Matrix.field(dim, dim, dtype=ti.f32, shape=(max_steps, n_particles), needs_grad=True)

# Loss scalar field
loss = ti.field(dtype=ti.f32, shape=(), needs_grad=True)

# Control parameter to optimize
init_v = ti.Vector.field(dim, dtype=ti.f32, shape=(), needs_grad=True)
```
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