Skip to content

[FEATURE] Add contact dedup at link pair level. #2829

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
duburcqa wants to merge 1 commit into
base: main
Choose a base branch
from
Open

[FEATURE] Add contact dedup at link pair level. #2829

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 20 additions & 0 deletions genesis/engine/solvers/rigid/collider/collider.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
func_rotate_frame,
func_set_upstream_grad,
func_clamp_and_sort_contacts,
func_prune_contacts,
)
from . import narrowphase
from .narrowphase import (
Expand Down Expand Up @@ -160,13 +161,20 @@ def _init_static_config(self) -> None:
has_nonconvex_nonterrain,
) = self._compute_collision_pair_idx()

# Link-pair pruning can do useful work only when contacts from distinct geom-pairs can accumulate into the same
# (link_a, link_b) bucket. That happens when any link has more than one geom (compound/decomposed body), when
# any geom is nonconvex (vertex-based narrowphase emits many contacts per pair), or when terrain is present.
any_link_multi_geom = any(len(link.geoms) > 1 for link in self._solver.links)
link_pair_pruning_supported = any_link_multi_geom or has_nonconvex_nonterrain or has_terrain

# Initialize the static config, which stores every data that are compile-time constants.
# Note that updating any of them will trigger recompilation.
self._collider_static_config = array_class.ColliderStaticConfig(
has_terrain=has_terrain,
has_non_box_plane_convex_convex=has_non_box_plane_convex_convex,
has_convex_specialization=has_convex_specialization,
has_nonconvex_nonterrain=has_nonconvex_nonterrain,
link_pair_pruning_supported=link_pair_pruning_supported,
n_contacts_per_pair=n_contacts_per_pair,
ccd_algorithm=ccd_algorithm,
)
Expand Down Expand Up @@ -808,6 +816,18 @@ def detection(self) -> None:
self._solver._errno,
)

if (
self._collider_static_config.link_pair_pruning_supported
and self._solver._options.contact_pruning_tolerance is not None
and not self._solver._static_rigid_sim_config.requires_grad
):
func_prune_contacts(
self._solver._options.contact_pruning_tolerance,
self._collider_state,
self._collider_info,
self._solver._static_rigid_sim_config,
)

if self._use_split_narrowphase:
func_clamp_and_sort_contacts(
self._collider_state,
Expand Down
Loading
Loading