Merge branch 'particle-radius-update' into 'master'

Update Model.particle_max_radius from Model.particle_radius setter

See merge request mmacklin/warp!390

Author: mmacklin

warp/sim/integrator_xpbd.py

@@ -246,8 +246,6 @@ def solve_particle_particle_contacts(
     radius = particle_radius[i]
     w1 = particle_invmass[i]
 
-    f = wp.vec3()
-
     # particle contact
     query = wp.hash_grid_query(grid, x, radius + max_radius + k_cohesion)
     index = int(0)

warp/sim/model.py

@@ -810,12 +810,12 @@ def soft_contact_distance(self, value):
             DeprecationWarning,
             stacklevel=2,
         )
-    
+
     @property
     def particle_radius(self):
         """Array of per-particle radii"""
         return self._particle_radius
-    
+
     @particle_radius.setter
     def particle_radius(self, value):
         if isinstance(value, float):
@@ -828,8 +828,13 @@ def particle_radius(self, value):
                 stacklevel=2,
             )
             self._particle_radius.fill_(value)
+            self.particle_max_radius = value
         else:
             self._particle_radius = value
+            # TODO implement max radius update to be compatible with graph capture
+            device = wp.get_device(self.device)
+            if not device.is_capturing:
+                self.particle_max_radius = self._particle_radius.numpy().max()
 
 
 class ModelBuilder: