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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
Download Patch File Download Diff File Expand all files Collapse all files
plugin/sdf/bolt.cc
+1 -1
View File
@@ -166,12 +166,12 @@ void Bolt::RegisterPlugin() {
plugin.sdf_distance =
+[](const mjtNum point[3], const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
return sdf->Distance(point);
};
plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
sdf->Gradient(gradient, point);
};
plugin.sdf_staticdistance =
plugin/sdf/bowl.cc
+1 -1
View File
@@ -164,12 +164,12 @@ void Bowl::RegisterPlugin() {
plugin.sdf_distance =
+[](const mjtNum point[3], const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
return sdf->Distance(point);
};
plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
sdf->Gradient(gradient, point);
};
plugin.sdf_staticdistance =
plugin/sdf/gear.cc
+1 -1
View File
@@ -250,12 +250,12 @@ void Gear::RegisterPlugin() {
plugin.sdf_distance =
+[](const mjtNum point[3], const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
return sdf->Distance(point);
};
plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
sdf->Gradient(gradient, point);
};
plugin.sdf_staticdistance =
plugin/sdf/nut.cc
+1 -1
View File
@@ -166,12 +166,12 @@ void Nut::RegisterPlugin() {
plugin.sdf_distance =
+[](const mjtNum point[3], const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
return sdf->Distance(point);
};
plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
sdf->Gradient(gradient, point);
};
plugin.sdf_staticdistance =
plugin/sdf/sdflib.cc
+1 -1
View File
@@ -146,12 +146,12 @@ void SdfLib::RegisterPlugin() {
plugin.sdf_distance =
+[](const mjtNum point[3], const mjData* d, int instance) {
auto* sdf = reinterpret_cast<SdfLib*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
return sdf->Distance(point);
};
plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
const mjData* d, int instance) {
auto* sdf = reinterpret_cast<SdfLib*>(d->plugin_data[instance]);
sdf->visualizer_.AddPoint(point);
sdf->Gradient(gradient, point);
};