[FEATURE] Add public API to set / get vertex positions of visual rigid geometries.#2776

Merged

duburcqa merged 8 commits into

Genesis-Embodied-AI:mainfrom

duburcqa:vverts-consolidation

May 13, 2026

Commits on May 13, 2026

add vverts_state with FK kernel populating per-frame visual vertex positions
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add solver / entity / vgeom set_vverts and get_vverts APIs with non-zero-copy fallback kernel
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Phase 1.5: add batch_vverts_info gate and is_custom flag, FK skips user-driven vverts
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Phase 2: rasterizer per-env path with lazy migration; collision/sdf unchanged
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add unit test for set_vverts (unbatched and batched paths)
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gate vverts_state on per-entity custom_vverts morph flag
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fix renderer first-frame upload + add sphere<->cube morph test
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make vverts/vfaces topology global; drop batch_vverts_info and is_custom
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