perf(rbd): fuse the solver color loops — one workgroup per env (stacked on #21) - #22

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haixuanTao wants to merge 5 commits into

dimforge:mainfrom

haixuanTao:perf/fused-color-loops-upstream

Commits on Jul 17, 2026

perf(rbd): flat 1-D narrow-phase dispatch — pack warps across batches

pkooij
and
claude
committed
c8398ab
perf(rbd): fuse the solver color loops — one workgroup per env, colors via workgroup barriers

pkooij
and
claude
committed
4e83d28
perf(rbd): absorb per-substep contact dispatches into the fused kernels + flat refit_leaves

pkooij
and
claude
committed
a69d6a8
fix(rbd): apply the per-batch stride to collider_parent reads in the narrow phase

pkooij
and
claude
committed
f1dbab8

Commits on Aug 7, 2026

fix ci: rustfmt + drop intra-doc link to private find_batch

haixuanTao
and
claude
committed
7690d09