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Kevin Dee
2026-03-02 18:18:40 -08:00
parent 813b124c47
commit 05ac8a6e97
12 changed files with 70 additions and 42 deletions
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4
@miSim/validate.m
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@@ -20,8 +20,8 @@ function validate(obj)
for kk = 1:size(obj.agents, 1)
P = min(max(obj.agents{kk}.pos, obj.obstacles{jj}.minCorner), obj.obstacles{jj}.maxCorner);
d = obj.agents{kk}.pos - P;
if dot(d, d) <= obj.agents{kk}.collisionGeometry.radius^2
error("%s colliding with %s", obj.agents{kk}.label, obj.obstacles{jj}.label); % this will cause quadprog to fail
if dot(d, d) < obj.agents{kk}.collisionGeometry.radius^2
warning("%s colliding with %s by %d", obj.agents{kk}.label, obj.obstacles{jj}.label, dot(d, d) - obj.agents{kk}.collisionGeometry.radius^2); % this will cause quadprog to fail
end
end
end