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What is hard collisions doing?

I am curious of the calculations that hard collisions is performing, and is it expensive to run. I couldn’t find any info on what it is doing, so couldn’t tell exactly how expensive it might be. I assume it is an extra check and adjustment to ensure no overlapping but if you have any additional info on the operation costs that would be helpful.
Thanks!

Hi

hard collisions is essentially a very simple collision resolver.

Simplified it does:

  1. Check if it is colliding with another agent
  2. If yes, move this agent and the other agent so that they are no longer colliding.
  3. Repeat until it has checked all agents.

It’s pretty cheap compared to the rest of the local avoidance.

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