[BUG FIX] Fix BVH build's radix sort. by Libero0809 · Pull Request #1305 · Genesis-Embodied-AI/Genesis

Libero0809 · 2025-06-21T02:01:27Z

Description

Maybe continue this PR after the linear corotated is merged into main. I just realized that this branch is based on the corotated one.

The BVH's radix sort use an unstable sort which will generate a wrong sorting result. Changed it to sequential for each batch so that the result is correct.
BVH's compute bound is not gpu safe since it does not sync the memory. Changed to multi-kernel launch with forced memory sync.
Make the tests harder for the bvh. The previous one was too simple.
Break the large build kernel into several kernels to make it compile faster.

Checklist:

I read the CONTRIBUTING document.
I followed the Submitting Code Changes section of CONTRIBUTING document.
I tagged the title correctly (including BUG FIX/FEATURE/MISC/BREAKING)
I updated the documentation accordingly or no change is needed.
I tested my changes and added instructions on how to test it for reviewers.
I have added tests to cover my changes.

…d-AI#1290)

genesis/engine/bvh.py

genesis/engine/coupler.py

genesis/engine/materials/FEM/elastic.py

genesis/engine/coupler.py

genesis/engine/bvh.py

python-3.12.3-macos11.pkg

Libero0809 · 2025-06-27T18:03:19Z

👍 = Done. Saves me some typing in the future😊

hughperkins · 2025-06-27T18:06:29Z

👍 = Done. Saves me some typing in the future😊

Note that we don't get notifications for emoji. So, once you have addressed everyting you're going to address, you might consider posting something like "addressed all comments". (I'm not sure if that is standard tbh, and I typically often end up DM'ing reviewers directly anyway, but I tend to do this anywya).

Libero0809 · 2025-06-27T18:14:14Z

@hughperkins , Noted. 👍

genesis/engine/coupler.py

genesis/engine/bvh.py

erizmr · 2025-06-30T18:58:48Z

genesis/engine/bvh.py

+        # Compute prefix sum
+        for i_b in ti.ndrange(self.n_batches):
+            self.prefix_sum[i_b, 0] = 0
+            for j in range(1, 256):  # sequential prefix sum


Though it has been merged, just to mention there is a built-in parallel prefix sum, which might be useful: https://github.com/taichi-dev/taichi/blob/master/python/taichi/algorithms/_algorithms.py#L42

Oh really! This is interesting!

Thanks for pointing this out. I think if we are doing prefix sum for just 256 elements, sequential would be fine.

LeonLiu4 and others added 21 commits June 20, 2025 08:00

[BUG FIX] Preserve external forces across sub-steps. (Genesis-Embodie…

90da431

…d-AI#1290)

[MISC] Reduce warning messages. (Genesis-Embodied-AI#1294)

0864103

[MISC] Update default FEM damping 45.0 -> 0.0 (Genesis-Embodied-AI#1288)

8d07248

bvh query

6d9f319

Wrap aabb with python AABB class

197453b

move query result batch dim

bf0ee25

init

d385da6

Update bvh.py

fe432f0

tet plane detection

b1a7d2d

worked but far from good

82ffb7e

add damping

0d564a2

add test

1241c5b

change test fem to sapcoupler

bd5aa0f

change test name

122e221

code cleanup & bug fix

2778529

fix test

54d5646

fix test

e74be79

update doc for sap

bf60281

corotated

604aef5

init

3845104

fix bug in bvh

5cc72a0

Libero0809 requested review from YilingQiao and duburcqa as code owners June 21, 2025 02:01

Libero0809 changed the title ~~[BUG FIX] Fix BVH build's radix sort and break code into kernels to accelerate compile~~ [BUG FIX] Fix BVH build's radix sort and break one kernel into several kernels to accelerate compile Jun 21, 2025

duburcqa force-pushed the main branch from 7cc6917 to d7d813d Compare June 22, 2025 07:30

Merge branch 'main' into bvh

07e2112

duburcqa reviewed Jun 25, 2025

View reviewed changes

Libero0809 added 3 commits June 26, 2025 11:28

add gpu test

2c24e59

change compute bound to layered reduction

d7889fd

Merge branch 'main' into bvh

593892b

Libero0809 added 2 commits June 26, 2025 14:12

make tests faster

d33f8dc

code clean up

624eed4

Libero0809 changed the title ~~[BUG FIX] Fix BVH build's radix sort and break one kernel into several kernels to accelerate compile~~ [BUG FIX] Fix BVH build's radix sort and conpute bounds, and break one kernel into several kernels to accelerate compile Jun 26, 2025

removed unused field

98d30ab

duburcqa reviewed Jun 27, 2025

View reviewed changes

duburcqa changed the title ~~[BUG FIX] Fix BVH build's radix sort and conpute bounds, and break one kernel into several kernels to accelerate compile~~ [BUG FIX] Fix BVH build's radix sort. Jun 27, 2025

duburcqa reviewed Jun 27, 2025

View reviewed changes

python-3.12.3-macos11.pkg Outdated Show resolved Hide resolved

Libero0809 added 2 commits June 27, 2025 11:03

code cleanup

5fad9b7

Merge branch 'main' into bvh

253dc10

duburcqa enabled auto-merge (squash) June 27, 2025 18:46

duburcqa previously approved these changes Jun 27, 2025

View reviewed changes

small bug

f04500c

auto-merge was automatically disabled June 28, 2025 01:38
Head branch was pushed to by a user without write access

Libero0809 dismissed duburcqa’s stale review via f04500c June 28, 2025 01:38

Merge branch 'main' into bvh

86b6b2a

duburcqa reviewed Jun 28, 2025

View reviewed changes

genesis/engine/coupler.py Outdated Show resolved Hide resolved

duburcqa reviewed Jun 28, 2025

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genesis/engine/bvh.py Outdated Show resolved Hide resolved

duburcqa reviewed Jun 28, 2025

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genesis/engine/bvh.py Show resolved Hide resolved

Minor fixes.

4e70712

duburcqa approved these changes Jun 28, 2025

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duburcqa enabled auto-merge (squash) June 28, 2025 10:34

duburcqa merged commit 45bc00e into Genesis-Embodied-AI:main Jun 28, 2025
13 checks passed

erizmr reviewed Jun 30, 2025

View reviewed changes

Milotrince pushed a commit to Milotrince/Genesis that referenced this pull request Jul 5, 2025

[BUG FIX] Fix BVH build's radix sort. (Genesis-Embodied-AI#1305)

f69e44e

chris-la-humalab pushed a commit to HumaLab/Genesis that referenced this pull request Aug 1, 2025

[BUG FIX] Fix BVH build's radix sort. (Genesis-Embodied-AI#1305)

e0e7a04

YilingQiao pushed a commit to YilingQiao/Genesis that referenced this pull request Aug 22, 2025

[BUG FIX] Fix BVH build's radix sort. (Genesis-Embodied-AI#1305)

e1cc023

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Libero0809 commented Jun 21, 2025 • edited by duburcqa Loading Uh oh! There was an error while loading. Please reload this page.

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Libero0809 commented Jun 27, 2025

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hughperkins commented Jun 27, 2025

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erizmr Jun 30, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Libero0809 commented Jun 21, 2025 •

edited by duburcqa

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erizmr Jun 30, 2025 •

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duburcqa Jun 30, 2025 •

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