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[FEATURE] WIP: Differentiable forward dynamics for rigid body simulation #1775

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[FEATURE] WIP: Differentiable forward dynamics for rigid body simulation #1775

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365 changes: 292 additions & 73 deletions genesis/engine/entities/rigid_entity/rigid_entity.py
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17 changes: 6 additions & 11 deletions genesis/engine/simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -267,18 +267,13 @@ def f_global_to_s_global(self, f_global):
# ------------------------------------------------------------------------------------

def step(self, in_backward=False):
if self._rigid_only: # "Only Advance!" --Thomas Wade :P
for _ in range(self._substeps):
self.rigid_solver.substep()
self._cur_substep_global += 1
else:
self.process_input(in_backward=in_backward)
for _ in range(self._substeps):
self.substep(self.cur_substep_local)
self.process_input(in_backward=in_backward)
for _ in range(self._substeps):
self.substep(self.cur_substep_local)

self._cur_substep_global += 1
if self.cur_substep_local == 0 and not in_backward:
self.save_ckpt()
self._cur_substep_global += 1
if self.cur_substep_local == 0 and not in_backward:
self.save_ckpt()

if self.rigid_solver.is_active():
self.rigid_solver.clear_external_force()
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159 changes: 98 additions & 61 deletions genesis/engine/solvers/rigid/collider_decomp.py
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224 changes: 151 additions & 73 deletions genesis/engine/solvers/rigid/constraint_solver_decomp.py
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