[FEATURE] Enhance SAP Coupler to support self collision between FEM objects#1375

Merged

duburcqa merged 59 commits intoGenesis-Embodied-AI:mainfrom

Libero0809:self_collision

Jul 16, 2025

Commits on Jun 20, 2025

Commits on Jun 21, 2025

bvh query
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Wrap aabb with python AABB class
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move query result batch dim
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init
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Update bvh.py

duburcqa
authored and
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tet plane detection
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worked but far from good
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add damping
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add test
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change test fem to sapcoupler
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change test name
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code cleanup & bug fix
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fix test
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fix test
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update doc for sap
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corotated
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init
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fix bug in bvh
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Commits on Jun 24, 2025

debugging
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Commits on Jun 25, 2025

Commits on Jun 27, 2025

refactor
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Commits on Jun 28, 2025

optimize performance
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Commits on Jul 4, 2025

exact linesearch
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Commits on Jul 8, 2025

Commits on Jul 10, 2025

Commits on Jul 11, 2025

Commits on Jul 14, 2025

Commits on Jul 16, 2025