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Backtracking line search for SDF collisions.

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Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.

This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.

PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
This commit is contained in:
Alessio Quaglino
2023-11-20 06:31:45 -08:00
committed by Copybara-Service
parent dbf44fe2b4
commit 8ca51b5318
8 changed files with 44 additions and 13 deletions
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doc/changelog.rst
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@@ -2,6 +2,16 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
- Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
robust for very small or large geom sizes.
Version 3.0.1 (November 15, 2023)
---------------------------------