16 angular momentum and friction - Githubissues

DelftMercurians / cotix

Continuous-time, differentiable RL environments

MIT License

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16 angular momentum and friction #48

Closed mikhail-vlasenko closed 1 year ago

mikhail-vlasenko commented 1 year ago

This pull request introduces a series of updates aimed at improving the collision resolution logic within the system. Below is a summary of the key changes:

Added

Implementation of angular momentum from impact in collision resolution.
Implementation of angular momentum from friction in collision resolution.
Plenty of new tests for collision resolution.
Some new tests for collision detection.

Fixed

Added ContactInfo class; contact point is now expected by the _resolve_collision method within ContactInfo.
Fixed velocities_away checks.

Improved

ExtraInfo is returned by collision resolution at the third position. It is useful for test and potentially elsewhere
Introduced a much of complex, but not randomized tests to further validate the robustness of the collision resolution.
Added pytest-check as a dependency, allowing the visibility of multiple failing asserts during test runs.
Docstrings
Corrected spelling in HomogeneousTransformer

mikhail-vlasenko commented 1 year ago

im just gonna put the geogebra file here for the last test cause it takes time to imagine that one bullet_test.zip zip cause .ggb isnt supported