Performance: Spatial collision checking, shapely caching, ...#6
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lbergmann1 merged 17 commits intoMay 5, 2026
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Cache the object's base polygon and goal polygon during episode reset to avoid rebuilding them on every step.
Add spatial hashing for collision detection and precompute wall-segment lookup table. Refactor qpos_is_valid to use precomputed wall data and optimize fast paths for uniform mover sizes and complete tile layouts.
lbergmann1
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Apr 30, 2026
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Great work! I just found some minor things. Please correct them and merge the current main branch. I will then update the version and the changelog and merge the changes into the main branch.
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Speeds up four hot paths with no interface changes.
qpos_is_valid: Replaces per-step tile broadcast with a pre-computed wall-segment lookup table. Intersection tests are now vectorized.O(n^2)all-pairs mover collision check with a tile spatial grid. The new complexity should beO(n * k), wherekis the average number of movers in a shared "tile neighbourhood"scipyrotation matrix in favour of inline 2D trig.