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Restore clearing collision normal cache in broad_phase #50

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Restore clearing collision normal cache in broad_phase #50

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942f4bd
restore code in d543fe1b55. restore Clearing collision normal cache.
chien-an-chen Apr 29, 2026
fd421e6
fix error in clearing collision normal cache
chien-an-chen Apr 29, 2026
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36 changes: 36 additions & 0 deletions genesis/engine/solvers/rigid/collider/broadphase.py
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Original file line number Diff line number Diff line change
Expand Up @@ -305,6 +305,25 @@ def func_broad_phase_lds(

if (min_a0 > max_b0 or min_a1 > max_b1 or min_a2 > max_b2 or
max_a0 < min_b0 or max_a1 < min_b1 or max_a2 < min_b2):

# Clear collision normal cache if not in contact
if qd.static(not static_rigid_sim_config.enable_mujoco_compatibility):
if func_check_collision_valid(
i_ga_c,
i_gb_c,
i_b,
links_state,
links_info,
geoms_info,
rigid_global_info,
static_rigid_sim_config,
constraint_state,
equalities_info,
collider_info,
):
i_pair = collider_info.collision_pair_idx[i_ga_c, i_gb_c]
collider_state.contact_cache.normal[i_pair, i_b] = qd.Vector.zero(gs.qd_float, 3)

continue

if not func_check_collision_valid(
Expand Down Expand Up @@ -611,6 +630,23 @@ def func_broad_phase_global_mem(
if not (min_a0 <= max_b0 and max_a0 >= min_b0 and
min_a1 <= max_b1 and max_a1 >= min_b1 and
min_a2 <= max_b2 and max_a2 >= min_b2):
# Clear collision normal cache if not in contact
if qd.static(not static_rigid_sim_config.enable_mujoco_compatibility):
if func_check_collision_valid(
i_ga_c,
i_gb_c,
i_b,
links_state,
links_info,
geoms_info,
rigid_global_info,
static_rigid_sim_config,
constraint_state,
equalities_info,
collider_info,
):
i_pair = collider_info.collision_pair_idx[i_ga_c, i_gb_c]
collider_state.contact_cache.normal[i_pair, i_b] = qd.Vector.zero(gs.qd_float, 3)
continue

if not func_check_collision_valid(
Expand Down