Fix collision behaviours #111
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aaravpandya
commented
May 9, 2024
| @@ -522,6 +527,27 @@ inline void stepTrackerSystem(Engine &ctx, | |||
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| void collisionDetectionSystem(Engine &ctx, | |||
| const CandidateCollision &candidateCollision) { | |||
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| // Technically there would never be a collision between (non valid expert) and (non expert). So one of the below checks would always be false. | |||
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Emphasis on NON VALID expert here.
aaravpandya
requested review from
SamanKazemkhani,
daphne-cornelisse and
eugenevinitsky
src/sim.cpp
Outdated
| @@ -263,6 +263,10 @@ inline void movementSystem(Engine &e, | |||
| if (collisionEvent.hasCollided.load_relaxed()) | |||
| { | |||
| if(e.data().params.collisionBehaviour == CollisionBehaviour::AgentStop) { | |||
| velocity.linear.x = 0; | |||
| velocity.linear.y = 0; | |||
| velocity.linear.z = fminf(velocity.linear.z, 0); | |||
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why would we want to possibly return negative z velocity?
eugenevinitsky
approved these changes
May 10, 2024
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This PR intends to ignore collisions when objects are teleported away and they are NON VALID EXPERTS. That is they are not padding entities or teleported away because of prior collision.
Also, smaller changes included here adds a return statement to the teleport condition and zeroes out the velocity of the agent in the agent stop condition (This happens anyways due to the zerovel system but is now explicitly done.)
Also, adds a small condition to the info tensor if its not updated in the tracking system.