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[MISC] Speed up solver via linesearch/update_constraint/func_init optimizations #2445

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[MISC] Speed up solver via linesearch/update_constraint/func_init optimizations #2445

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5a21123
add solver optimizations
erizmr Feb 22, 2026
ec625a5
update
erizmr Feb 22, 2026
0d43c2b
fix test
erizmr Feb 22, 2026
6e0b038
recover init
erizmr Mar 3, 2026
e8422e9
better initial alpha with no init
erizmr Mar 3, 2026
07768c3
enforce test grad not using cache
erizmr Mar 3, 2026
d621552
grad computation not using parallel search
erizmr Mar 3, 2026
24c9f81
update format
erizmr Mar 3, 2026
3922ca6
Merge branch 'main' into mingrui/260218/solver_opt_merge_to_main
erizmr Mar 4, 2026
cdc9599
Merge branch 'main' into mingrui/260218/solver_opt_merge_to_main
erizmr Mar 4, 2026
437d037
disable perf dispatch re-benchmarking for decomp
erizmr Mar 5, 2026
2890635
fix implicit cpu gpu sync
erizmr Mar 5, 2026
bdb89f2
clean
erizmr Mar 5, 2026
7ea5031
Merge branch 'main' into mingrui/260218/solver_opt_merge_to_main
erizmr Mar 5, 2026
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28 changes: 25 additions & 3 deletions genesis/engine/solvers/rigid/constraint/solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,6 @@ def __init__(self, rigid_solver: "RigidSolver"):
self.mv = cs.mv
self.jv = cs.jv
self.quad_gauss = cs.quad_gauss

self.candidates = cs.candidates
self.ls_it = cs.ls_it
self.ls_result = cs.ls_result
Expand Down Expand Up @@ -188,6 +187,7 @@ def resolve(self):

func_solve_body(
self._solver.entities_info,
self._solver.dofs_info,
self._solver.dofs_state,
self.constraint_state,
self._solver._rigid_global_info,
Expand Down Expand Up @@ -2262,6 +2262,12 @@ def update_bracket_no_eval_local(
return flag, p_alpha, p_cost, p_grad, p_hess, p_next_alpha


@qd.func
def _log_scale(min_value: gs.qd_float, max_value: gs.qd_float, num_values: qd.i32, i: qd.i32) -> gs.qd_float:
step = (qd.log(max_value) - qd.log(min_value)) / qd.max(1.0, gs.qd_float(num_values - 1))
return qd.exp(qd.log(min_value) + gs.qd_float(i) * step)
Comment on lines +2265 to +2268
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@duburcqa duburcqa Mar 5, 2026

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This should be moved in generic quadrants kernel utils

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@erizmr erizmr Mar 5, 2026

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This is only for linesearch use. I intend to add a note to state it can be moved in generic quadrants kernel utils and do follow up PRs on it. How do you think?

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@duburcqa duburcqa Mar 9, 2026 •
edited
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If think it should either be inlined or move in generic quadrants kernel utils. No good reason to wait.



@qd.func
def func_linesearch_and_apply_alpha(
i_b,
Expand Down Expand Up @@ -2801,14 +2807,28 @@ def initialize_Ma(
# ======================================================= Core ========================================================


@qd.kernel(fastcache=gs.use_fastcache)
@qd.perf_dispatch(
get_geometry_hash=lambda *args, **kwargs: (*args, frozendict(kwargs)), warmup=3, active=3, repeat_after_seconds=0
)
def func_solve_init(
dofs_info: array_class.DofsInfo,
dofs_state: array_class.DofsState,
entities_info: array_class.EntitiesInfo,
constraint_state: array_class.ConstraintState,
rigid_global_info: array_class.RigidGlobalInfo,
static_rigid_sim_config: qd.template(),
) -> None: ...


@func_solve_init.register(is_compatible=lambda *args, **kwargs: True)
@qd.kernel(fastcache=gs.use_fastcache)
def func_solve_init_monolith(
dofs_info: array_class.DofsInfo,
dofs_state: array_class.DofsState,
entities_info: array_class.EntitiesInfo,
constraint_state: array_class.ConstraintState,
rigid_global_info: array_class.RigidGlobalInfo,
static_rigid_sim_config: qd.template(),
):
_B = dofs_state.acc_smooth.shape[1]
n_dofs = dofs_state.acc_smooth.shape[0]
Expand Down Expand Up @@ -3009,10 +3029,11 @@ def func_solve_iter(


@qd.perf_dispatch(
get_geometry_hash=lambda *args, **kwargs: (*args, frozendict(kwargs)), warmup=3, active=3, repeat_after_seconds=1.0
get_geometry_hash=lambda *args, **kwargs: (*args, frozendict(kwargs)), warmup=3, active=3, repeat_after_seconds=0
)
def func_solve_body(
entities_info: array_class.EntitiesInfo,
dofs_info: array_class.DofsInfo,
dofs_state: array_class.DofsState,
constraint_state: array_class.ConstraintState,
rigid_global_info: array_class.RigidGlobalInfo,
Expand All @@ -3024,6 +3045,7 @@ def func_solve_body(
@qd.kernel(fastcache=gs.use_fastcache)
def func_solve_body_monolith(
entities_info: array_class.EntitiesInfo,
dofs_info: array_class.DofsInfo,
dofs_state: array_class.DofsState,
constraint_state: array_class.ConstraintState,
rigid_global_info: array_class.RigidGlobalInfo,
Expand Down
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