WIP: Revive order of grabbed #1450
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added 2 commits
October 19, 2024 14:33
- Issue - Previously, KinBody remembers the order when the grabbed bodies are grabbed. - However, it's broken since we introduced unordered_map. Especially, listNonCollidingLinksWhenGrabbed computation becomes less deterministic along with its lazy computatoin. - Resolution - Since unordered_map is introduced to improve the performance, not good idea to revive std::vector as its representation. - Instead, introduce the unique id to remember the order when grabbed.
… it means pOtherGrabbed is grabbed later than 'this'. Thus, pOtherGrabbed did not exist when 'this' was grabbed. The results of lazy computation should be same as the result of non-lazy computation. Therefore, we should not compute the inter-grabbed collision checking with pOtherGrabbed. This resolves Issue4 in #1436.
added 2 commits
October 21, 2024 11:08
… reviveOrderOfGrabbed
… reviveOrderOfGrabbed
added 5 commits
October 25, 2024 19:34
…deterministic grabbed self collision checking.
… reviveOrderOfGrabbed
… reviveOrderOfGrabbed
added 4 commits
November 7, 2024 18:26
…include/openrave/kinbody.h
… reviveOrderOfGrabbed
… reviveOrderOfGrabbed
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Summary
Issue
A, thenB. WhenAis grabbed, there is noBat all, and thus, no need of considering it inlistNonCollidingLinks. WhenBis grabbed, there isAand need to consider it.unordered_map: Optimize IsGrabbing / ResetGrabbed #1421Issue4in Grabbed, CheckSelfCollision, and unordered grabbed bodies issues. #1436Resolution
unodered_mapis introduced for the performance improvement, it's not good idea to revive other STL containers for the representation.unordered_map, maintain the order by adding the unique id intoGrabbedclass. Such unique id is (mostly) monotonically increasing and represents the order when grabbed.Grabbed::ComputeListNonCollidingLinkswill consider the order when grabbed via the unique id. If other grabbed body has larger unique id, it means it's grabbed later and don't need to compute thelistNonCollidingLinks.