[BUG FIX] Fix untested / dead code.

genesis/engine/solvers/rigid/collider_decomp.py

@@ -771,6 +771,7 @@ def func_contact_sphere_sdf(
     i_b,
     geoms_state: array_class.GeomsState,
     geoms_info: array_class.GeomsInfo,
+    rigid_global_info: array_class.RigidGlobalInfo,
     collider_static_config: ti.template(),
     sdf_info: array_class.SDFInfo,
 ):

genesis/engine/solvers/rigid/constraint_noslip.py

@@ -270,6 +270,7 @@ def func_cost_change(
 
 @ti.kernel(fastcache=gs.use_fastcache)
 def compute_A_diag(
+    entities_info: array_class.EntitiesInfo,
     rigid_global_info: array_class.RigidGlobalInfo,
     constraint_state: array_class.ConstraintState,
     static_rigid_sim_config: ti.template(),

genesis/engine/solvers/rigid/constraint_solver_decomp_island.py

@@ -995,9 +995,9 @@ def _func_update_gradient(self, island, i_b):
                 self.grad,
                 self.Mgrad,
                 array_class.PLACEHOLDER,
-                entities_info=entities_info,
-                rigid_global_info=rigid_global_info,
-                static_rigid_sim_config=static_rigid_sim_config,
+                entities_info=self.entities_info,
+                rigid_global_info=self._solver.data_manager.rigid_global_info,
+                static_rigid_sim_config=self._solver._static_rigid_sim_config,
                 is_backward=False,
             )
             for i_e in range(self._solver.n_entities):

genesis/engine/solvers/sph_solver.py

@@ -399,7 +399,7 @@ def _kernel_compute_DFSPH_factor(self, f: ti.i32):
                 ret = ti.Vector.zero(gs.ti_float, 4)
 
                 self.sh.for_all_neighbors(
-                    i, self.particles_reordered.pos, self._support_radius, ret, self._task_compute_DFSPH_factor
+                    i_p, self.particles_reordered.pos, self._support_radius, ret, self._task_compute_DFSPH_factor
                 )
 
                 sum_grad_p_k = ret[3]

genesis/utils/geom.py

@@ -1777,13 +1777,13 @@ def compute_reordered_idx(self, n, pos, active, reordered_idx):
             self.slot_start[i_s, i_b] -= self.slot_size[i_s, i_b]
 
     @ti.func
-    def for_all_neighbors(self, i, pos, task_range, ret: ti.template(), task: ti.template(), i_b):
+    def for_all_neighbors(self, i_p, pos, task_range, ret: ti.template(), task: ti.template(), i_b):
         """
         Iterates over all neighbors of a given position and performs a task on each neighbor.
         Elements are considered neighbors if they are within task_range.
 
         Parameters:
-            i (int)    : Index of the querying particle.
+            i_p (int)  : Index of the querying particle.
             pos        : Template for the positions of all particles.
             task       : Template for the task to be performed on each neighbor of the querying particle.
             task_range : Range within which the task should be performed.
@@ -1792,14 +1792,14 @@ def for_all_neighbors(self, i, pos, task_range, ret: ti.template(), task: ti.tem
         Returns:
             None
         """
-        base = self.pos_to_grid(pos[i, i_b])
+        base = self.pos_to_grid(pos[i_p, i_b])
         for offset in ti.grouped(ti.ndrange((-1, 2), (-1, 2), (-1, 2))):
             slot_idx = self.grid_to_slot(base + offset)
-            for j in range(
+            for j_p in range(
                 self.slot_start[slot_idx, i_b], self.slot_size[slot_idx, i_b] + self.slot_start[slot_idx, i_b]
             ):
-                if i != j and (pos[i, i_b] - pos[j, i_b]).norm() < task_range:
-                    task(i, j, ret, i_b)
+                if i_p != j_p and (pos[i_p, i_b] - pos[j_p, i_b]).norm() < task_range:
+                    task(i_p, j_p, ret, i_b)
 
     @ti.func
     def pos_to_grid(self, pos):