Ignore phantom contact points (negative penetration depth) from Bullet #1185
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2 tasks
jslee02
requested changes
Oct 31, 2018
dart/constraint/ConstraintSolver.cpp
Outdated
| // happening and the contact point should be ignored. | ||
| // TODO(MXG): Investigate ways to leverage the proximity information of a | ||
| // negative penetration to improve collision handling. | ||
| else if(contact.penetrationDepth >= 0.0) |
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I think we would like to ignore negative penetration contacts even for soft contact as:
if(contact.penetrationDepth < 0.0)
continue;
if (isSoftContact(contact))
{
...
}
else
{
...
}There was a problem hiding this comment.
@mxgrey Any thoughts on this? 😄
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Sorry for the delay, I got sidetracked. Makes sense to me! I've updated the branch with this change.
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Thanks! Let's merge once CI tests are done.
Codecov Report
@@ Coverage Diff @@
## release-6.7 #1185 +/- ##
===============================================
+ Coverage 56.51% 56.57% +0.06%
===============================================
Files 345 346 +1
Lines 25654 25657 +3
===============================================
+ Hits 14498 14516 +18
+ Misses 11156 11141 -15
|
jslee02
previously approved these changes
Nov 12, 2018
jslee02
reviewed
Nov 12, 2018
dart/constraint/ConstraintSolver.cpp
Outdated
| // happening and the contact point should be ignored. | ||
| // TODO(MXG): Investigate ways to leverage the proximity information of a | ||
| // negative penetration to improve collision handling. | ||
| if (contact.penetrationDepth >= 0.0) |
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Oh, wait. Actually, this should be:
if (contact.penetrationDepth < 0.0)to match the original logic.
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Whoops! Thank goodness for unit tests 😅
…/dart into grey/bullet_sphere_error
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This PR is for investigating the issue reported in #1184.
Before merging a pull request
CHANGELOG.md