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scenario csv on both platforms

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This commit is contained in:
Kevin Dee
2026-02-28 19:36:58 -08:00
parent 0bf293c95e
commit 387d6aea56
15 changed files with 739 additions and 293 deletions
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8
@miSim/constrainMotion.m
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@@ -49,7 +49,13 @@ function [obj] = constrainMotion(obj)
r_sum_ij = obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius;
v_max_ij = max(obj.agents{ii}.initialStepSize, obj.agents{jj}.initialStepSize) / obj.timestep;
slack = -(4 * r_sum_ij * v_max_ij / obj.barrierGain)^(1 / obj.barrierExponent);
b(kk) = obj.barrierGain * max(slack, h(ii, jj))^obj.barrierExponent;
if norm(A(kk, :)) < 1e-9
% Agents are coincident: A-row is zero, so b < 0 would make
% 0 ≤ b unsatisfiable. Fall back to b = 0 (no correction possible).
b(kk) = 0;
else
b(kk) = obj.barrierGain * max(slack, h(ii, jj))^obj.barrierExponent;
end
kk = kk + 1;
end
end