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feat: linarize most bached simulation kernels by switching to batch-interleaved formats
- #37
#37
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sebcrozet
merged 7 commits into
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dimforge/nexus:main
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linear-batches
dimforge/nexus:linear-batches
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Aug 30, 2026
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feat: linarize most bached simulation kernels by switching to batch-interleaved formats
#37
sebcrozet
merged 7 commits into
main
dimforge/nexus:main
from
linear-batches
dimforge/nexus:linear-batches
Copy head branch name to clipboard
Commits
Commits on Aug 29, 2026
perf(rbd): batch-interleaved flat buffer layout with demand-sized constraint arenas
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test(rbd): add a batched-stacks parity probe
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refactor(rbd): remove the never-maintained dof_values mirror
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Commits on Aug 30, 2026
perf(rbd): positional contact slots, per-pair manifold reduction, contact-to-multibody index
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chore(rbd): update docs
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feat(rbd): use stronger typing in shaders when possible
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chore: CI fixes
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