Improve performance + a small tests + better collision API

DelftMercurians / cotix

Continuous-time, differentiable RL environments

MIT License

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Improve performance + a small tests + better collision API #39

Closed knyazer closed 1 year ago

knyazer commented 1 year ago

@mikhail-vlasenko take a look, I changed an API a bit (again). Now convex collision resolution admits two optional parameters: key and direction, for possibly faster convergence of EPA/GJK.

mikhail-vlasenko commented 1 year ago

I see, cool