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Simple and small refactoring - Remove redundant else block in the XPBD simulator #325

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Oct 10, 2024
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Simple and small refactoring - Remove redundant else block in the XPBD simulator #325

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8 changes: 2 additions & 6 deletions warp/sim/integrator_xpbd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2808,12 +2808,8 @@ def simulate(self, model: Model, state_in: State, state_out: State, dt: float, c

with wp.ScopedTimer("simulate", False):
if model.particle_count:
if requires_grad:
particle_q = state_out.particle_q
particle_qd = state_out.particle_qd
else:
particle_q = state_out.particle_q
particle_qd = state_out.particle_qd
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particle_q = state_out.particle_q
particle_qd = state_out.particle_qd

self.particle_q_init = wp.clone(state_in.particle_q)
if self.enable_restitution:
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