mend

Author: LeonLiu4

genesis/engine/simulator.py

@@ -202,7 +202,6 @@ def build(self):
         # solvers
         self._rigid_only = self.rigid_solver.is_active()
         for solver in self._solvers:
-            # solver._finalize_batch(self._B)
             solver.build()
             if solver.is_active():
                 self._active_solvers.append(solver)

genesis/engine/solvers/base_solver.py

@@ -20,9 +20,6 @@ def __init__(self, scene: "Scene", sim: "Simulator", options):
         self._dt: float = options.dt
         self._substep_dt: float = options.dt / sim.substeps
         self._gravity = sim.gravity
-        # self._gravity_cfg = np.asarray(options.gravity, gs.np_float) if hasattr(options, "gravity") else None
-        # self._gravity = None
-
         self._entities: list[Entity] = gs.List()
 
         # force fields
@@ -31,16 +28,6 @@ def __init__(self, scene: "Scene", sim: "Simulator", options):
     def _add_force_field(self, force_field):
         self._ffs.append(force_field)
 
-    """
-    def _finalize_batch(self, B: int):
-        if self._gravity_cfg is None or self._gravity is not None:
-            return
-        self._gravity = ti.field(dtype=gs.ti_vec3, shape=(B,))
-        g = self._gravity_cfg
-        if g.ndim == 1:
-            g = np.tile(g[None, :], (B, 1))
-        self._gravity.from_numpy(g[..., None])
-    """
     # ------------------------------------------------------------------------------------
     # ----------------------------------- properties -------------------------------------
     # ------------------------------------------------------------------------------------