Skip to content

Release 0.6.4 - Wall Collision Physics & CI Improvements

Choose a tag to compare

View all tags
@Routhleck Routhleck released this 25 Dec 06:05
· 16 commits to master since this release
v0.6.4
11664ff

🎯 Major Improvements

Wall Collision Physics (Critical Fix)

  • Fixed wall penetration bug where agents could pass through walls
    • Corrected parametric equation sign error in collision detection
    • Fixed position reference (using instead of )
    • Prevented from overwriting collision results
    • Result: Zero wall violations across all test cases
  • Implemented elastic wall bounce physics matching RatInABox behavior
    • Velocity reflection with proper parallel/perpendicular decomposition
    • Speed reduction to 0.5 × speed_mean after collision
    • Iterative collision handling with normal distribution noise for numerical stability

Trajectory Generation Enhancements

  • Rayleigh distribution for 2D speed magnitudes
    • Correct statistical distribution for 2D random walks
    • CDF transformations: Rayleigh ↔ Normal for OU process updates
    • Significant improvement in RatInABox parity metrics
  • Added measured rotational velocity tracking
    • Distinction between dynamical and measured angular velocities
    • Proper angle difference normalization to [-π, π]

Performance Improvements

Trajectory similarity improvements across test cases:

  • case2_walls: 36% improvement (0.041 → 0.026)
  • case4_thigmotaxis: 35% improvement (0.024 → 0.016)
  • case5_periodic: Perfect match (0.0 → 0.0)
  • case8_hole: 28% improvement (0.657 → 0.472)

🔧 CI/CD Improvements

GitHub Actions Updates

  • Updated macOS Intel runner: macos-13 → macos-15-intel
    • macos-13 retired by GitHub in December 2025
    • Using official recommended replacement for Intel builds
  • Fixed Windows CI test failure
    • Handle zero-time computation in speedup calculations
    • Prevent ZeroDivisionError in performance tests

Code Quality

  • Translated all Chinese comments to English
  • Fixed Rust formatting (cargo fmt compliance)
  • Enhanced inline documentation with physics explanations

📦 Distribution

Pre-built wheels available for:

  • Linux: x86_64, aarch64
  • macOS: x86_64 (Intel), arm64 (Apple Silicon)
  • Windows: x86_64
  • Python versions: 3.11, 3.12, 3.13

🔬 Technical Details

New Dependencies

  • statrs = 0.16 - Statistical distributions (Rayleigh, Normal CDF/inverse CDF)

Algorithm Changes

  • Rayleigh-to-Normal transformation for velocity updates
  • Wall bounce reflection using vector decomposition
  • Collision detection with parametric line segment intersection
  • Numerical stability via 1e-9 scale normal noise

📚 Documentation

  • Comprehensive inline comments explaining physics principles
  • Detailed algorithm descriptions in geometry utilities
  • Updated build and test instructions

🙏 Acknowledgments

Thanks to the RatInABox project for the reference implementation and algorithm design.

Full Changelog: v0.6.3...v0.6.4

Assets 2
Loading