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feat: optimizations of the rigid-body solver - #30

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sebcrozet merged 39 commits into
mainfrom
optimizations
Aug 13, 2026
Merged

feat: optimizations of the rigid-body solver#30
sebcrozet merged 39 commits into
mainfrom
optimizations

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@sebcrozet sebcrozet commented Aug 13, 2026 •
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sebcrozet added 30 commits July 24, 2026 13:29
@sebcrozet
fix: prevent out-of-bounds writes to pfm_pairs
dd48fc1
@sebcrozet
fix: convert LBVH pair-traversal while-loop to bounded for
caa9395
@sebcrozet
perf: replace GPU color cursors with pre-built per-color uniforms
0e5edcd
@sebcrozet
perf: bucket-sort contact constraints by color so each color only ite…
8eabde5 
…rates its own constraints
@sebcrozet
perf: fold bias removal into the contact/joint solve kernels
3cbd8ac
@sebcrozet
perf: cache radix-sort pass uniforms and n_sort_flat across calls
c912154
@sebcrozet
perf: enable cuboid-cuboid SAT early-exits
3811f97
@sebcrozet
perf: check the analytic-pair predicate before loading poses in the d…
9ca0dad 
…eferred narrow phase
@sebcrozet
perf: bound constraint init/count loops by the indirect grid, not cap…
b63faad 
…acity
@sebcrozet
perf: seed the topo-gc coloring from the previous frame's colors
9f6a3e9
@sebcrozet
perf: bound LBVH internal refit by the active collider count
6d2ce60
@sebcrozet
perf: multibody — uniform loop bounds + lane-parallel contact finalize
b411384
@sebcrozet
perf: misc rbd pipeline cleanup
5bc7b9c
@sebcrozet
perf: use the gather (colorless) warmstart when no multibody is present
d6d0b04
@sebcrozet
perf: prune whole LBVH subtrees in the pair traversal
23d6d7d
@sebcrozet
chore: drop unused MAX_MB_DOFS import
793b47d
@sebcrozet
fix: count constraints over contacts_len, not the padded capacity
a8bff49
@sebcrozet
perf: pack per-multibody kernels into full workgroups
e6e0fce
@sebcrozet
perf: filter same-body and disabled self-contact pairs in the broad p…
c86471b 
…hase
@sebcrozet
perf: parallelize the per-batch max reductions feeding indirect dispa…
8ddb97c 
…tches
@sebcrozet
perf: brute-force O(n²) broad phase for tiny environments
761a89c
@sebcrozet
perf: bound the multibody contact scan by the real contact count
3755e54
@sebcrozet
perf: lane-parallelize the multibody joint-constraint LU back-solves
ab4c077
@sebcrozet
perf: fuse the colored solver sweeps into per-batch single-workgroup …
d27f079 
…dispatches
@sebcrozet
perf: fused shared-memory multibody PGS sweep + parallel warmstart/reset
37196d5
@sebcrozet
perf: MuJoCo-style explicit coriolis in the menagerie example
02d0e56
@sebcrozet
perf: lane-parallelize the multibody contact-constraint jacobian fills
ac0d099
@sebcrozet
perf: trim a barrier from the mb contact sweep + split the init-step …
72a6d37 
…passes
@sebcrozet
perf: build multibody contact constraints once per step in explicit-c…
c826829 
…oriolis mode
@sebcrozet
perf: skip the rigid-body contact pipeline when it is provably inert
da69b58
@sebcrozet
sebcrozet merged commit 3083a43 into main Aug 13, 2026
1 of 5 checks passed
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sebcrozet commented Aug 13, 2026

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Will deal with the CI failures in a follow-up PR.

@sebcrozet
sebcrozet deleted the optimizations branch August 13, 2026 19:19
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