[FEATURE] get_weld_constraints API #1370
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LeonLiu4
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tests/test_rigid_physics.py
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| welds_single = cube1.get_weld_constraints(as_tensor=True, to_torch=False) | ||
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| assert_allclose( | ||
| np.array([int(welds_single["obj_a"][0]), int(welds_single["obj_b"][0])]), |
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| if max_welds == 0: | ||
| empty = torch.empty if to_torch else np.empty | ||
| obj_a = empty((0,), dtype=np.int32) | ||
| obj_b = empty((0,), dtype=np.int32) | ||
| if n_envs == 1: | ||
| return {"obj_a": obj_a, "obj_b": obj_b} | ||
| return { | ||
| "obj_a": [obj_a] * n_envs, | ||
| "obj_b": [obj_b] * n_envs, | ||
| } |
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This branch should be useless. Just skip self._kernel_collect_welds(buf) if max_welds == 0
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| "obj_b": [obj_b] * n_envs, | ||
| } | ||
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| total = n_envs * max_welds |
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This is wrong. See my previous comment:
Could you follow more strictly the pattern in RigidSolver.get_contacts? You should not pass a 3D tensor because it would allocate more memory than necessary but most importantly, it will break "C"-contiguity, which would be problematic if forwarded as input argument of another taichi kernel.
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Adds RigidSolver.get_weld_constraints() – returns an (N, 3) NumPy array (env_id, link1_idx, link2_idx) of all active weld constraints, enabling quick inspection and test assertions without poking internal Taichi fields.
Resolves #1365