Fix small nits.

Author: duburcqa

genesis/engine/couplers/legacy_coupler.py

@@ -454,7 +454,7 @@ def fem_surface_force(self, f: ti.i32):
                             mpm_grid_I = mpm_base - self.mpm_solver.grid_offset + mpm_offset
                             mpm_grid_mass = self.mpm_solver.grid[f, mpm_grid_I, i_b].mass / self.mpm_solver.p_vol_scale
 
-                            mpm_weight = ti.cast(1.0, gs.ti_float)
+                            mpm_weight = gs.ti_float(1.0)
                             for d in ti.static(range(3)):
                                 mpm_weight *= mpm_w[mpm_offset[d]][d]
 

genesis/engine/entities/pbd_entity.py

@@ -114,7 +114,7 @@ def _kernel_add_particles_edges_to_solver(
             self.solver.particles[i_p, i_b].dpos = ti.Vector.zero(gs.ti_float, 3)
             self.solver.particles[i_p, i_b].free = True
 
-            self.solver.particles_ng[i_p, i_b].active = active
+            self.solver.particles_ng[i_p, i_b].active = ti.cast(active, gs.ti_bool)
 
         for i_e_ in range(self.n_edges):
             i_e = i_e_ + self._edge_start

genesis/engine/entities/tool_entity/mesh.py

@@ -86,7 +86,7 @@ def sdf(self, f, pos_world, i_b):
     def sdf_(self, pos_voxels):
         # sdf value from voxels coordinate
         base = ti.floor(pos_voxels, gs.ti_int)
-        signed_dist = ti.cast(0.0, gs.ti_float)
+        signed_dist = gs.ti_float(0.0)
         if (base >= self.sdf_res - 1).any() or (base < 0).any():
             signed_dist = 1.0
         else:
@@ -117,7 +117,7 @@ def normal(self, f, pos_world, i_b):
     @ti.func
     def normal_(self, pos_voxels):
         # since we are in voxels frame, delta can be a relatively big value
-        delta = ti.cast(1e-2, gs.ti_float)
+        delta = gs.ti_float(1e-2)
         normal_vec = ti.Vector([0, 0, 0], dt=gs.ti_float)
 
         for i in ti.static(range(3)):
@@ -146,15 +146,15 @@ def collide(self, f, pos_world, vel_mat, i_b):
             signed_dist = self.sdf(f, pos_world, i_b)
             # bigger coup_softness implies that the coupling influence extends further away from the object.
             influence = ti.min(ti.exp(-signed_dist / max(gs.EPS, self.material.coup_softness)), 1)
-            if signed_dist <= 0 or influence > 0.1:
+            if signed_dist <= 0.0 or influence > 0.1:
                 vel_collider = self.vel_collider(f, pos_world, i_b)
 
                 # v w.r.t collider
                 rel_v = vel_mat - vel_collider
                 normal_vec = self.normal(f, pos_world, i_b)
                 normal_component = rel_v.dot(normal_vec)
 
-                if normal_component < 0:
+                if normal_component < 0.0:
                     # remove inward velocity
                     rel_v_t = rel_v - normal_component * normal_vec
                     rel_v_t_norm = rel_v_t.norm(gs.EPS)
@@ -165,9 +165,10 @@ def collide(self, f, pos_world, vel_mat, i_b):
                     )
 
                     # tangential component after friction
-                    flag = ti.cast(normal_component < 0, gs.ti_float)
-                    rel_v_t = rel_v_t_friction * flag + rel_v_t * (1 - flag)
-                    vel_mat = vel_collider + rel_v_t * influence + rel_v * (1 - influence)
+                    # FIXME: This formula could be simplified since flag = 1.0 systematically.
+                    flag = ti.cast(normal_component < 0.0, gs.ti_float)
+                    rel_v_t = rel_v_t_friction * flag + rel_v_t * (1.0 - flag)
+                    vel_mat = vel_collider + rel_v_t * influence + rel_v * (1.0 - influence)
 
         return vel_mat
 

genesis/engine/solvers/fem_solver.py

@@ -313,12 +313,12 @@ def _init_surface_info(self):
     @ti.kernel
     def compute_surface_vertices(self):
         for i_v in range(self.n_vertices):
-            self.vertices_on_surface[i_v] = 0
+            self.vertices_on_surface[i_v] = False
 
         for i_s in range(self.n_surfaces):
             tri2v = self.surface[i_s].tri2v
             for i in ti.static(range(3)):
-                self.vertices_on_surface[tri2v[i]] = 1
+                self.vertices_on_surface[tri2v[i]] = True
 
     @ti.kernel
     def compute_surface_elements(self):

genesis/engine/solvers/mpm_solver.py

@@ -383,7 +383,7 @@ def p2g(self, f: ti.i32):
                 w = [0.5 * (1.5 - fx) ** 2, 0.75 - (fx - 1) ** 2, 0.5 * (fx - 0.5) ** 2]
                 for offset in ti.static(ti.grouped(self.stencil_range())):
                     dpos = (offset.cast(gs.ti_float) - fx) * self._dx
-                    weight = ti.cast(1.0, gs.ti_float)
+                    weight = gs.ti_float(1.0)
                     for d in ti.static(range(3)):
                         weight *= w[offset[d]][d]
 
@@ -439,7 +439,7 @@ def g2p(self, f: ti.i32):
                 for offset in ti.static(ti.grouped(self.stencil_range())):
                     dpos = offset.cast(gs.ti_float) - fx
                     grid_vel = self.grid[f, base - self._grid_offset + offset, i_b].vel_out
-                    weight = ti.cast(1.0, gs.ti_float)
+                    weight = gs.ti_float(1.0)
                     for d in ti.static(range(3)):
                         weight *= w[offset[d]][d]
 

genesis/engine/solvers/sph_solver.py

@@ -628,7 +628,7 @@ def _density_solve(self, f: ti.i32):
 
     @ti.func
     def cubic_kernel(self, r_norm):
-        res = ti.cast(0.0, gs.ti_float)
+        res = gs.ti_float(0.0)
         h = self._support_radius
         # value of cubic spline smoothing kernel
         k = 1.0