[PREF] Rigid: single-write acc update in func_update_acc#44
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Summary
Refactor func_update_acc in genesis/engine/solvers/rigid/abd/forward_dynamics.py so that links_state.cdd_vel, cdd_ang, cacc_lin, and cacc_ang are no longer updated on every DOF iteration. The same values are built in local variables (ls_*) over the per-link DOF loop, then the corresponding global fields are assigned once per link index.
Motivation / performance
This cuts repeated global traffic and, for the backward path, removes the need for the previous pattern that relied on func_add_safe_backward (accumulation/atomics required by the autodiff global access rules) when updating these fields in the inner loop.
Autodiff (Taichi-style)
The change aligns with the global data access rules for differentiable programs: in particular, avoiding multiple writes to the same global field element in ways that are not the allowed += / accumulation pattern. With a single assignment to each links_state.*[i_l, i_b] per forward pass over that site, the refactor stays consistent with those constraints while simplifying the implementation.
Description
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
How Has This Been / Can This Be Tested?
Screenshots (if appropriate):
Checklist:
Submitting Code Changessection of CONTRIBUTING document.