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Fix NaN resulting from non-clamped input to simd_asin in angular motor solver #840

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Merged
sebcrozet merged 4 commits into from
Jul 11, 2025
Merged

Fix NaN resulting from non-clamped input to simd_asin in angular motor solver #840

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f20c491
Fix non-clamped input to simd_asin in motor_angular
ryanhcode Jun 5, 2025
91b7fe3
Fix implementation & cleanup
ryanhcode Jun 5, 2025
9fa8c55
Cleanup
ryanhcode Jun 6, 2025
5f0c93a
Fix formatting
ryanhcode Jul 7, 2025
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14 changes: 12 additions & 2 deletions src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -753,10 +753,20 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {

let mut rhs_wo_bias = N::zero();
if motor_params.erp_inv_dt != N::zero() {
let ang_dist;

#[cfg(feature = "dim2")]
let ang_dist = self.ang_err.angle();
{
ang_dist = self.ang_err.angle();
}

#[cfg(feature = "dim3")]
let ang_dist = self.ang_err.imag()[_motor_axis].simd_asin() * N::splat(2.0);
{
// Clamp the component from -1.0 to 1.0 to account for slight imprecision
let clamped_err = self.ang_err.imag()[_motor_axis].simd_clamp(-N::one(), N::one());
ang_dist = clamped_err.simd_asin() * N::splat(2.0);
}

let target_ang = motor_params.target_pos;
rhs_wo_bias += utils::smallest_abs_diff_between_angles(ang_dist, target_ang)
* motor_params.erp_inv_dt;
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