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[MISC] Constraint solver parallel linesearch optimization #2523

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[MISC] Constraint solver parallel linesearch optimization #2523

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a5eca5d
fix reading field in python scope avoiding gpu-cpu sync
erizmr Mar 9, 2026
b786ecc
update
erizmr Mar 9, 2026
3f1737e
Replace sequential linesearch with parallel multi-kernel linesearch
erizmr Mar 9, 2026
ae95f8c
update
erizmr Mar 10, 2026
a09bef8
update cast
erizmr Mar 13, 2026
30f2cf0
test
erizmr Mar 19, 2026
008716d
update
erizmr Mar 21, 2026
e7cd276
update
erizmr Mar 21, 2026
54d0b3d
update
erizmr Mar 21, 2026
c054625
safe newton init
erizmr Mar 22, 2026
2e56fec
grad check and newton correction
erizmr Mar 23, 2026
c37fb44
add more newton correction
erizmr Mar 23, 2026
2ade80c
fix qudrants constant
erizmr Mar 23, 2026
42eb2e3
re-enable re-benchmarking
erizmr Mar 23, 2026
ff32f25
update with new opt
erizmr Mar 24, 2026
6fa169f
with repeat after count
erizmr Mar 25, 2026
04266ba
update n candidates
erizmr Mar 25, 2026
c439679
Merge branch 'main' into mingrui/260309/solver_opt_parallel_linesearch
erizmr Mar 25, 2026
bd18461
remove the fallback for simpler code
erizmr Mar 25, 2026
75e213d
add unexpected missing newton correction..
erizmr Mar 25, 2026
8a75bfe
update comment
erizmr Mar 26, 2026
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3 changes: 3 additions & 0 deletions genesis/engine/solvers/rigid/constraint/solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,7 @@ 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 @@ -3105,6 +3106,7 @@ def func_solve_iter(
)
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 @@ -3117,6 +3119,7 @@ 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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