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Allow sliding in habitat-sim to be turned off. #439
Motivation and Context
In habitat-sim, agents slide when they collide. This was shown to hurt sim2real performance.
The implementation of no sliding here differs considerably from the previous implementation. The previous implementation was pretty hacky (although it did allow for intermediary values between on and off). This implementation changes the core of recast and allows for sliding to be truly disabled. See the commit on the recast side here: erikwijmans/recastnavigation@354591e
I also added method documentation and fixed a few little bugs here and there in the pathfinder (I can break these into separated PRs if needed, but GitHub makes that a pain..)
How Has This Been Tested
Via the unit test!
Types of changes
@@ Coverage Diff @@ ## master #439 +/- ## ========================================== - Coverage 57.87% 57.42% -0.45% ========================================== Files 175 160 -15 Lines 8282 6972 -1310 Branches 84 84 ========================================== - Hits 4793 4004 -789 + Misses 3489 2968 -521
msbaines left a comment
Major concern is whether allowSliding shouldn't just be part of PathFinder state instead of a new API call. It seems like it is state (it is state for Simulator) and I don't think we would expect calls to both variants for a given PathFinder instance.
Also, the dataQueryFilter change is good but is a large percentage of the patch. Might be better on its own.
Other than that, just nits.