NVIDIA
[BUG] Double-counting of collision hessian in VDB
Bug Description
Hi, I've noticed with the latest version of integrator_vdb.py that inside the function VBD_solve_trimesh_with_self_contact_penetration_free the term particle_hessians seems to be added twice - once at the top of the function and again at the bottom. Is this intentional?
Thanks, Cliff
System Information
No response
Yes, Cliffie, you are right. This is indeed a bug. Good catch. I hope I can fix those bugs you brought up today.
Awesome - thank you!
On Wed, May 28, 2025 at 7:07 PM Anka Chen @.***> wrote:
AnkaChan left a comment (NVIDIA/warp#756) https://github.com/NVIDIA/warp/issues/756#issuecomment-2917186761
Yes, Cliffie, you are right. This is indeed a bug. Good catch. I hope I can fix those bugs you brought up today.
— Reply to this email directly, view it on GitHub https://github.com/NVIDIA/warp/issues/756#issuecomment-2917186761, or unsubscribe https://github.com/notifications/unsubscribe-auth/BPMNJMHVRCOSVGDBQULXSEL3AX3MLAVCNFSM6AAAAAB6CKHEOGVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDSMJXGE4DMNZWGE . You are receiving this because you authored the thread.Message ID: @.***>