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

Merged

sebcrozet merged 39 commits into

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Aug 13, 2026

Commits on Jul 24, 2026

fix: prevent out-of-bounds writes to pfm_pairs
sebcrozet
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dd48fc1
fix: convert LBVH pair-traversal while-loop to bounded for
sebcrozet
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caa9395
perf: replace GPU color cursors with pre-built per-color uniforms
sebcrozet
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0e5edcd
perf: bucket-sort contact constraints by color so each color only iterates its own constraints
sebcrozet
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8eabde5
perf: fold bias removal into the contact/joint solve kernels
sebcrozet
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3cbd8ac
perf: cache radix-sort pass uniforms and n_sort_flat across calls
sebcrozet
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c912154
perf: enable cuboid-cuboid SAT early-exits
sebcrozet
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3811f97
perf: check the analytic-pair predicate before loading poses in the deferred narrow phase
sebcrozet
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9ca0dad
perf: bound constraint init/count loops by the indirect grid, not capacity
sebcrozet
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b63faad
perf: seed the topo-gc coloring from the previous frame's colors
sebcrozet
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9f6a3e9

Commits on Jul 26, 2026

Commits on Jul 31, 2026

Commits on Aug 1, 2026

Commits on Aug 2, 2026

feat: improve multibody/mjcf stability
sebcrozet
committed
2d6a57f
chore: cleanup comments
sebcrozet
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485fc6d