[BUG FIX] Minor bug in support functions for collision detection #1259
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−3
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SonSang
requested review from
Genesis-Embodied-AI,
YilingQiao and
duburcqa
as code owners
duburcqa
previously approved these changes
Jun 10, 2025
|
You can install a pre-commit hook which could format the code before a commit. |
auto-merge was automatically disabled
June 10, 2025 15:34
Head branch was pushed to by a user without write access
duburcqa
approved these changes
Jun 10, 2025
|
The failing test is flaky. I will improve. Sorry but your PR is stuck for now :/ |
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Description
There was a minor bug in support functions for box and capsule in collision detection algorithm. Specifically,
ti.math.signgives 0 when the input is 0, which is undesirable, when we require either 1 or -1 for finding support points. Therefore, fixed the value to 1 when the output is 0.Related Issue
Motivation and Context
It fixes wrong collision detection results when the support direction has 0 value.
How Has This Been / Can This Be Tested?
Screenshots (if appropriate):
Checklist:
Submitting Code Changessection of CONTRIBUTING document.