[godobject] does iteratevely updating godobject based on perpendicular vector of edge work?

[JotaroS]

question

I see that in the code it's iteratevely calculating next new godobject position by using two normal vector of concave corner.
This will work when corner is acute, but not when corner is shallow. I'm looking at this line:

dualpantoframework/firmware/src/physics/godObject.cpp

Lines 152 to 174 in ad2554e

	if (foundCollision)
	{
	m_processingObstacleCollision = true;
	auto perpendicular = Vector2D(
	-closestEdgeFirstMinusSecond.y,
	closestEdgeFirstMinusSecond.x);
	auto resolveRatio =
	-Vector2D::determinant(
	closestEdgeFirstMinusSecond,
	closestEdgeFirst - targetPoint) /
	Vector2D::determinant(
	closestEdgeFirstMinusSecond,
	perpendicular);
	auto resolveVec = perpendicular * resolveRatio;
	auto resolveLength = resolveVec.length();
	targetPoint = targetPoint - (resolveVec * ((resolveLength + c_resolveDistance) / resolveLength));
	// update possible collisions
	m_possibleCollisions->clear();
	m_hashtable.getPossibleCollisions(
	Edge(m_position, targetPoint), m_possibleCollisions);
	}

here's how it won't work. maybe @lukaswagner can point me out if i'm right or not?

possible solution

• maybe use lagrangian multiplier (constrained based method on IROS95 http://robotics.stanford.edu/~jks/pubs/1995-Zilles-god-object-iros.pdf )