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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
1.19k stars 129 forks source link

Tiny geometry #186

Open pauceano opened 2 years ago

pauceano commented 2 years ago

I am working with a very simple aproach of a simulator. I am using tds::RigidBody and tds::RigidBody and tds::MultiBody. All the basis work well, but three are strange lacks in the geometries. I can see that some capabilities are not implemented, but I also found 'funny' things, like an apparent inconsistency in the definition of a box. The field that defines its dimensions (exent) sometimes is used as the lenght of the sides (when calculating max and min), and sometimes as the hal of it. Is anyone using this geometry? Could we make a branch to fix some basic things? I have no time to work a lot on it, but if someone is also interested maybe we can team up...

erwincoumans commented 2 years ago

Yes, the box isn't using extents/half extents consistently, we should clean it up to using only half extents.