Improve hydroelastic contact performance - #4142

Merged

mzamoramora-nvidia merged 17 commits into

newton-physics:mainfrom

nvtw:twidmer/sdf-contact-perf

Sep 4, 2026

Commits on Sep 3, 2026

Overlap SDF contact pre-prune probe loads

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9e96c56
Scan only active hydroelastic records

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3366289
Read hydroelastic voxel corners with one slot lookup

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0726db6
Overlap hydroelastic corner samples of the other SDF

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a0ff881
Use 128-thread blocks for mesh-SDF edge kernels

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779f23f
Launch more threads for the reducer active clear

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54dc2ea
Fix Python 3.10 geometry import
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5c25d12
Launch four waves of mesh-SDF edge blocks

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8fe4b36
Add collision-only nut/bolt contact benchmarks

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15b092e
Harden SDF contact optimizations
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Merge remote-tracking branch 'origin/twidmer/sdf-contact-perf' into twidmer/sdf-contact-perf
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d20b036
Batch boundary voxel corners between fine blocks

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Merge branch 'main' into twidmer/sdf-contact-perf
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Consolidate SDF contact performance changelog

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Merge branches 'twidmer/sdf-contact-perf' and 'twidmer/sdf-contact-perf' of https://github.com/nvtw/newton into twidmer/sdf-contact-perf
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8bfe85c
Only promote unpublished voxel claims without a normal win

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b184879
Size scan scratch by chunk count per device

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f84577f