Sequential Box<>Box #208
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Sequential Box<>Box #208
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Closed
erikfrey
approved these changes
May 9, 2025
| @@ -1718,6 +1730,497 @@ def capsule_box( | |||
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| @wp.func | |||
| def compute_rotmore(face_idx: int) -> wp.mat33: | |||
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nit: let's prepend the name with an underscore as we probably don't expect others to use this outside this module, no?
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Good point, changed the name to _compute_rotmore.
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This is a reimplementation of box<>box, based on the mjc code rather than the mjx code. It is sequential and does not make use of tiles, but closer to mjc and may lead to lower thread divergence.
It fixes issues observed in #163