[Perf] Vectorized collisions and other major perf improvements#71
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matteobettini merged 43 commits intomainfrom Nov 30, 2023
Merged
[Perf] Vectorized collisions and other major perf improvements#71matteobettini merged 43 commits intomainfrom
matteobettini merged 43 commits intomainfrom
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# Conflicts: # vmas/simulator/dynamics/kinematic_bicycle.py
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This PR contains a MAJOR rework of the collsions and constraints engine.
While before the physics were vectorized in the enviornments but we were still doing a double for loop over agents to check collisions, now this has been reworked and the double loop has been replaced by vectorized code over the agents.
This will mean that in the interface of vmas nothing changes but envioronments will be up to 10000x faster and growing in the number of entities will not be a problem
cc @Acciorocketships @janblumenkamp @smorad @alexandrashaw10