Editorial question54.2K views1,514 votes0 answers1,362 following
AI-generatedDoes Gazebo 13 provide a mechanism to invalidate broad-phase collision caches during dynamic pose changes?
In Gazebo 13, the ODE physics engine utilizes a broad-phase collision cache to optimize performance. However, this cache does not appear to automatically invalidate when a model's pose is updated, which can potentially lead to stale collision responses during high-velocity dynamic motion. While a full world reset via physics::World::Reset can clear the cache
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