Improve convergence of epa algorithm in case it's stuck #245
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Contributor
Author
|
With this fix it actually returns a contact (didn't know how to draw the intersection better): 
Also it does so in 5 iterations and returns a collision, instead of doing 10000 iterations and returning None. |
Contributor
|
Thanks! I'd like to add a test for this scenario, would a setup like dimforge/rapier#531 be the correct candidate ? |
Contributor
Author
|
Sure, thats what I used locally. I didn't put the effort to migrate that sample to the parry repo, but probably that would be next step. |
* attempt to make a test for epa convergence hanging * fix capsule height to be like original bug report * exact same parameters as original bug + adapt test
Contributor
|
🎉 yay! I'd like to add a changelog line before merging though |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Improves converges by checking if it's stuck. In such a case return a result, as a better solution will not be found, and most likely they are intersecting but not within the EPS.
Also decrease max iterations from 10000 to 100. It usually converges in 4-5 iterations, no need to ever do as many. Also we never really want a precision that big, we are ok with a lower precision most times.
Possibly fixes: