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Report Kamino contact buffer overflow #408

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Report Kamino contact buffer overflow #408

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16 changes: 16 additions & 0 deletions newton/_src/solvers/kamino/_src/geometry/contacts.py
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Original file line number Diff line number Diff line change
Expand Up @@ -238,6 +238,9 @@ def _default_num_world_max_contacts() -> list[int]:
Shape of ``(num_worlds,)``.
"""

contact_overflow_warning_emitted: wp.array[wp.int32] | None = None
"""Internal flag to track contact-buffer overflow warning messages."""

wid: wp.array[wp.int32] | None = None
"""
The world index of each active contact.
Expand Down Expand Up @@ -805,6 +808,7 @@ def finalize(
model_active_contacts=wp.zeros(shape=1, dtype=wp.int32),
world_max_contacts=to_warp_int32_array(world_max_contacts),
world_active_contacts=wp.zeros(shape=len(world_max_contacts), dtype=wp.int32),
contact_overflow_warning_emitted=wp.zeros(shape=1, dtype=wp.int32),
wid=wp.full(value=-1, shape=(model_max_contacts,), dtype=wp.int32),
cid=wp.full(value=-1, shape=(model_max_contacts,), dtype=wp.int32),
gid_AB=wp.full(value=wp.vec2i(-1, -1), shape=(model_max_contacts,), dtype=wp.vec2i),
Expand Down Expand Up @@ -874,6 +878,7 @@ def _convert_contacts_newton_to_kamino(
num_worlds: wp.int32,
kamino_model_max_contacts: wp.array[wp.int32],
kamino_world_max_contacts: wp.array[wp.int32],
contact_overflow_warning_emitted: wp.array[wp.int32],
newton_count: wp.array[wp.int32],
newton_shape0: wp.array[wp.int32],
newton_shape1: wp.array[wp.int32],
Expand Down Expand Up @@ -1026,11 +1031,21 @@ def _convert_contacts_newton_to_kamino(
wcid = wp.atomic_add(kamino_world_active, wid, 1)
if wcid >= world_max_contacts:
wp.atomic_sub(kamino_world_active, wid, 1)
if wp.atomic_exch(contact_overflow_warning_emitted, 0, 1) == 0:
wp.printf(
"Warning: Kamino per-world contact capacity exceeded while converting Newton contacts. "
"Increase Kamino contact capacity.\n"
)
return
mcid = wp.atomic_add(kamino_model_active, 0, 1)
if mcid >= model_max_contacts:
wp.atomic_sub(kamino_model_active, 0, 1)
wp.atomic_sub(kamino_world_active, wid, 1)
if wp.atomic_exch(contact_overflow_warning_emitted, 0, 1) == 0:
wp.printf(
"Warning: Kamino model contact capacity exceeded while converting Newton contacts. "
"Increase Kamino contact capacity.\n"
)
return

# Store the contact data in the Kamino format if the contact is valid
Expand Down Expand Up @@ -1383,6 +1398,7 @@ def convert_contacts_newton_to_kamino(
wp.int32(model.world_count),
contacts_out.model_max_contacts,
contacts_out.world_max_contacts,
contacts_out._data.contact_overflow_warning_emitted,
contacts_in.rigid_contact_count,
contacts_in.rigid_contact_shape0,
contacts_in.rigid_contact_shape1,
Expand Down
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