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Fix acceleration
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minkezhang committed Jan 4, 2023
1 parent c8f4787 commit ebf298e
Showing 1 changed file with 3 additions and 0 deletions.
3 changes: 3 additions & 0 deletions collider/collider.go
Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,9 @@ func (c *C) generate(d time.Duration) ([]am, []pm) {
kinematics.ClampCollisionVelocity(a, n, v)
}

kinematics.ClampVelocity(a, v)
kinematics.ClampAcceleration(a, v, d)

// N.B.: The velocity can be further reduced to
// zero here due to the physical limitations of
// the agent.
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