fixed toi < 0.0 crash in AL-IPC#406
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Summary of ChangesHello, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed! This pull request addresses a critical stability issue within the AL-IPC solver, specifically targeting a crash scenario where the time of impact ( Highlights
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Code Review
This pull request introduces a conditional check before calling advance_non_penetrate_positions, ensuring it's only executed when alpha exceeds a certain threshold. The review suggests replacing the magic number 1e-6 with a named constant, ideally m_global_active_set_manager->toi_threshold(), to enhance code readability, maintainability, and consistency.
| m_global_active_set_manager->post_ccd(); | ||
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| m_global_active_set_manager->advance_non_penetrate_positions(alpha); | ||
| if(alpha > 1e-6) |
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Using a magic number like 1e-6 can make the code harder to understand and maintain. It's better to define it as a named constant to clarify its purpose. Consider using the existing configurable toi_threshold from GlobalActiveSetManager, as it seems to serve a similar purpose of defining a tolerance for the time of impact. This would improve consistency and make the threshold configurable without code changes.
if(alpha > m_global_active_set_manager->toi_threshold())
…und in AL-IPC Introduce `contact/al-ipc/alpha_lower_bound` (default 1e-6) to replace the hardcoded threshold guarding `advance_non_penetrate_positions`. Made-with: Cursor
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