[PERF IMPROVEMENT] func_update_constraint_batch: hoist Jaref load in constraint update loop#34
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[PERF IMPROVEMENT] func_update_constraint_batch: hoist Jaref load in constraint update loop#34lohiaj wants to merge 1 commit intoamd-integrationfrom
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…constraint update loop Hoist `constraint_state.Jaref[i_c, i_b]` into a local in the per-constraint update loop used by `func_solve_iter`. The same Jaref value is used multiple times in the friction, contact, and force update branches. Keeping it in a local makes the intended reuse explicit to Quadrants/LLVM and avoids re-materializing the same indexed load across branch-local computations. The change is intentionally narrow: - no change to active-state writes - no loop fusion - no algorithmic change - no change to sparse_solve semantics Correctness verified locally by differential simulation against the current `amd-integration` baseline: position and velocity statistics remain within floating-point noise, and contact counts are identical.
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Summary
Hoists
constraint_state.Jaref[i_c, i_b]into a local in the per-constraint update loop used byfunc_solve_iter.The same Jaref value is used multiple times in the friction, contact, and force update branches. Keeping it in a local makes the intended reuse explicit to Quadrants/LLVM and avoids re-materializing the same indexed load across branch-local computations.
The change is intentionally narrow:
Correctness
Differential simulation against current
amd-integration: position and velocity statistics remain within floating-point noise, and contact counts are identical.Scope
Single file:
genesis/engine/solvers/rigid/constraint/solver.py.