Merge pull request #390 from YilingQiao/yiling/241229_contact_island_bug

zhouxian · web-flow · commit 658e1709f679 · 2024-12-30T13:33:42.000+08:00
[BUG FIX] Fix contact island bug
diff --git a/genesis/engine/solvers/rigid/contact_island.py b/genesis/engine/solvers/rigid/contact_island.py
@@ -25,7 +25,9 @@ def __init__(self, collider):
             dtype=gs.ti_int, shape=self.solver._batch_shape((self.collider._max_contact_pairs))
         )
 
-        self.constraint_id = ti.field(dtype=gs.ti_int, shape=self.solver._batch_shape((self.solver.n_entities)))
+        self.constraint_id = ti.field(
+            dtype=gs.ti_int, shape=self.solver._batch_shape((self.collider._max_contact_pairs * 2))
+        )
 
         self.entity_edge = struct_agg_list.field(
             shape=self.solver._batch_shape(self.solver.n_entities), needs_grad=False, layout=ti.Layout.SOA

Original file line number	Diff line number	Diff line change
`@@ -25,7 +25,9 @@ def __init__(self, collider):`
`25`	`25`	`dtype=gs.ti_int, shape=self.solver._batch_shape((self.collider._max_contact_pairs))`
`26`	`26`	`)`
`27`	`27`
`28`		`- self.constraint_id = ti.field(dtype=gs.ti_int, shape=self.solver._batch_shape((self.solver.n_entities)))`
	`28`	`+ self.constraint_id = ti.field(`
	`29`	`+ dtype=gs.ti_int, shape=self.solver._batch_shape((self.collider._max_contact_pairs * 2))`
	`30`	`+ )`
`29`	`31`
`30`	`32`	`self.entity_edge = struct_agg_list.field(`
`31`	`33`	`shape=self.solver._batch_shape(self.solver.n_entities), needs_grad=False, layout=ti.Layout.SOA`