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This commit is contained in:
Kevin Dee
2026-03-02 18:18:40 -08:00
parent 032f50774f
commit d49bf61d1d
12 changed files with 70 additions and 42 deletions
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4
@miSim/constrainMotion.m
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@@ -109,8 +109,8 @@ function [obj] = constrainMotion(obj)
b(kk) = obj.barrierGain * max(0, h_yMax)^obj.barrierExponent;
kk = kk + 1;
% Z minimum
h_zMin = (obj.agents{ii}.pos(3) - obj.domain.minCorner(3)) - obj.agents{ii}.collisionGeometry.radius;
% Z minimum — enforce z >= minAlt + radius (not just z >= domain floor + radius)
h_zMin = (obj.agents{ii}.pos(3) - obj.minAlt) - obj.agents{ii}.collisionGeometry.radius;
A(kk, (3 * ii - 2):(3 * ii)) = [0, 0, -1];
b(kk) = obj.barrierGain * max(0, h_zMin)^obj.barrierExponent;
kk = kk + 1;