added O(n) spatial collision checker.#641
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EthanMBoos
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May 1, 2026
EthanMBoos
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- drop in replacement for O(n^2) SimpleCollision
- drop in replacement for O(n^2) SimpleCollision
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I ran a few sample missions here with different numbers of agents. Looks to save 30%-40% of time depending on the mission. Could be good for bigger bulk sim runs. I also verified # of hits was the same on each run, but this was on the toy straight.xml mission and I am not confident that 100% of the time # of SpatialCollisions = SimpleCollisions. Needs some side by side testing. |
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