Merge pull request #183 from YilingQiao/yiling/241220_speed

save computation for multi-contact
Genesis-Embodied-AI · Dec 21, 2024 · 7ef0fec · 7ef0fec
2 parents 2ab7753 + 716c472
commit 7ef0fec
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/genesis/engine/solvers/rigid/collider_decomp.py b/genesis/engine/solvers/rigid/collider_decomp.py
@@ -991,9 +991,14 @@ def _func_mpr(self, i_ga, i_gb, i_b):
             i_gb, i_ga = i_ga, i_gb
 
         is_plane = self._solver.geoms_info[i_ga].type == gs.GEOM_TYPE.PLANE
+
+        i_la = self._solver.geoms_info[i_ga].link_idx
+        i_lb = self._solver.geoms_info[i_gb].link_idx
+        is_self_pair = self._solver.links_info.root_idx[i_la] == self._solver.links_info.root_idx[i_lb]
         multi_contact = (
             self._solver.geoms_info[i_ga].type != gs.GEOM_TYPE.SPHERE
             and self._solver.geoms_info[i_gb].type != gs.GEOM_TYPE.SPHERE
+            and not is_self_pair
         )
         if is_plane:
             self._func_plane_contact(i_ga, i_gb, multi_contact, i_b)