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Add simulator physics collision cache. #2080

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Add simulator physics collision cache. #2080

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1a987d8
Add collision cache.
0mdc Sep 15, 2024
83651fa
Invalidate contact point cache in all cases.
0mdc Sep 17, 2024
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14 changes: 14 additions & 0 deletions habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
VisualObservation,
)
from habitat.core.spaces import Space
from habitat_sim.physics import ContactPointData

if TYPE_CHECKING:
from torch import Tensor
Expand Down Expand Up @@ -306,6 +307,9 @@ def __init__(self, config: DictConfig) -> None:
)
self._prev_sim_obs: Optional[Observations] = None

self._contact_point_cache_time = 0.0
self._contact_point_cache: List[ContactPointData] = []

def create_sim_config(
self, _sensor_suite: SensorSuite
) -> habitat_sim.Configuration:
Expand Down Expand Up @@ -696,6 +700,16 @@ def get_observations_at(
else:
return None

def get_physics_contact_points(self) -> List[ContactPointData]:
sim_time = self.get_world_time()
contact_points_dirty = sim_time != self._contact_point_cache_time
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Let's add this as a member variable and set it to dirty on reset/reconfigure also. Those events will both reset time and change the scene state.

if not contact_points_dirty:
return self._contact_point_cache
else:
self._contact_point_cache = super().get_physics_contact_points()
self._contact_point_cache_time = sim_time
return self._contact_point_cache

def distance_to_closest_obstacle(
self, position: np.ndarray, max_search_radius: float = 2.0
) -> float:
Expand Down