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[BUG FIX] modify mpr threshold #434

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Jan 2, 2025
Merged

[BUG FIX] modify mpr threshold #434

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25 changes: 14 additions & 11 deletions genesis/engine/solvers/rigid/mpr_decomp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@ def __init__(self, rigid_solver):
self._B = rigid_solver._B
self._para_level = rigid_solver._para_level

if gs.ti_float == ti.f32:
self.CCD_EPS = 1e-6
else:
self.CCD_EPS = 1e-10

self.support_field = SupportField(rigid_solver)
self.init_support()

Expand Down Expand Up @@ -150,7 +155,6 @@ def mpr_portal_dir(self, i_ga, i_gb, i_b):
def mpr_portal_encapsules_origin(self, direction, i_ga, i_gb, i_b):
dot = direction.dot(self.simplex_support[i_ga, i_gb, 1, i_b].v)

CCD_EPS = 1e-5
return dot > 0.0
# return dot > 0 or ti.abs(dot) < CCD_EPS

Expand Down Expand Up @@ -418,7 +422,6 @@ def mpr_expand_portal(self, v, v1, v2, i_ga, i_gb, i_b):

@ti.func
def mpr_discover_portal(self, i_ga, i_gb, i_b):
CCD_EPS = 1e-5
ret = 0
self.simplex_size[i_ga, i_gb, i_b] = 0

Expand All @@ -436,8 +439,8 @@ def mpr_discover_portal(self, i_ga, i_gb, i_b):
self.simplex_support[i_ga, i_gb, 0, i_b].v = center_a - center_b
self.simplex_size[i_ga, i_gb, i_b] = 1

if self.simplex_support[i_ga, i_gb, 0, i_b].v.norm() < CCD_EPS:
self.simplex_support[i_ga, i_gb, 0, i_b].v += gs.ti_vec3([10.0 * CCD_EPS, 0.0, 0.0])
if self.simplex_support[i_ga, i_gb, 0, i_b].v.norm() < self.CCD_EPS:
self.simplex_support[i_ga, i_gb, 0, i_b].v += gs.ti_vec3([10.0 * self.CCD_EPS, 0.0, 0.0])

direction = (self.simplex_support[i_ga, i_gb, 0, i_b].v * -1).normalized()

Expand All @@ -451,13 +454,13 @@ def mpr_discover_portal(self, i_ga, i_gb, i_b):
dot = v.dot(direction)

# if dot < 0 or ti.abs(dot) < CCD_EPS:
if dot < CCD_EPS:
if dot < self.CCD_EPS:
ret = -1
else:
direction = self.simplex_support[i_ga, i_gb, 0, i_b].v.cross(self.simplex_support[i_ga, i_gb, 1, i_b].v)
if direction.norm() < CCD_EPS:
if direction.norm() < self.CCD_EPS:
# if portal.points[1].v == ccd_vec3_origin:
if self.simplex_support[i_ga, i_gb, 1, i_b].v.norm() < CCD_EPS:
if self.simplex_support[i_ga, i_gb, 1, i_b].v.norm() < self.CCD_EPS:
ret = 1
else:
ret = 2
Expand All @@ -466,7 +469,7 @@ def mpr_discover_portal(self, i_ga, i_gb, i_b):
v, v1, v2 = self.compute_support(direction, i_ga, i_gb, i_b)
dot = v.dot(direction)
# if dot < 0 or ti.abs(dot) < CCD_EPS:
if dot < CCD_EPS:
if dot < self.CCD_EPS:
ret = -1
else:
self.simplex_support[i_ga, i_gb, 2, i_b].v1 = v1
Expand All @@ -488,7 +491,7 @@ def mpr_discover_portal(self, i_ga, i_gb, i_b):
v, v1, v2 = self.compute_support(direction, i_ga, i_gb, i_b)
dot = v.dot(direction)
# if dot < 0 or ti.abs(dot) < CCD_EPS:
if dot < CCD_EPS:
if dot < self.CCD_EPS:
ret = -1
break

Expand All @@ -497,7 +500,7 @@ def mpr_discover_portal(self, i_ga, i_gb, i_b):
va = self.simplex_support[i_ga, i_gb, 1, i_b].v.cross(v)
dot = va.dot(self.simplex_support[i_ga, i_gb, 0, i_b].v)
# if dot < 0 or ti.abs(dot) < CCD_EPS:
if dot < -CCD_EPS:
if dot < -self.CCD_EPS:
self.simplex_support[i_ga, i_gb, 2, i_b].v1 = v1
self.simplex_support[i_ga, i_gb, 2, i_b].v2 = v2
self.simplex_support[i_ga, i_gb, 2, i_b].v = v
Expand All @@ -507,7 +510,7 @@ def mpr_discover_portal(self, i_ga, i_gb, i_b):
va = v.cross(self.simplex_support[i_ga, i_gb, 2, i_b].v)
dot = va.dot(self.simplex_support[i_ga, i_gb, 0, i_b].v)
# if dot < 0 or ti.abs(dot) < CCD_EPS:
if dot < -CCD_EPS:
if dot < -self.CCD_EPS:
self.simplex_support[i_ga, i_gb, 1, i_b].v1 = v1
self.simplex_support[i_ga, i_gb, 1, i_b].v2 = v2
self.simplex_support[i_ga, i_gb, 1, i_b].v = v
Expand Down