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Various optimizations#319

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dfremont wants to merge 26 commits intomainBerkeleyLearnVerify/Scenic:mainfrom dfremont_optimizationsBerkeleyLearnVerify/Scenic:dfremont_optimizationsCopy head branch name to clipboard

+636-163

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Commits on Apr 26, 2024

• disable redundant centering of occupiedSpace

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• apply MeshRegion transformations simultaneously

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Commits on Apr 27, 2024

• reduce redundant checks on occupiedSpace

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• improve backtrace for errors inside Point @properties

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• PolygonalFootprintRegion.containsObject checks convex hull before exact bounding polygon

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• speed up bounding box intersection check

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• built-in mutators directly modify objects

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• Merge branch 'main' into dfremont_optimizations

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Commits on Apr 29, 2024

• [WIP] precompute geometric data when shape/dimensions are fixed

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Commits on Nov 26, 2024

• Merge branch 'main' into dfremont_optimizations

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Commits on Dec 8, 2024

• precompute geometric data when shape/dimensions are fixed

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• improve requirement sorting heuristic

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• fix collision detection benchmarking

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• precompute body count of MeshVolumeRegion

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• speed up copying trimeshes when creating MeshRegions

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Commits on Dec 9, 2024

• avoid redundant scale computations for fixed shapes

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• reuse occupiedSpace for fixed objects

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• compute MeshRegion.mesh lazily

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• do circumradius check before computing bounding boxes; skip inradius check unless precomputed

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• skip bounding box check if meshes are lazy

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Commits on Dec 11, 2024

• fix transforms of precomputed Shape data; cache MultiPoint of vertices

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Commits on Dec 12, 2024

• minor tweaks & extra tests to cover new lines

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Commits on Dec 13, 2024

• minor fix; more tests

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Commits on Jan 11, 2025

• fix reproducibility issue

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Commits on Jan 18, 2025

• Merge branch 'main' into dfremont_optimizations

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Commits on Feb 13, 2025

• robustify MeshRegion boundingPolygon test

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