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Implements vehicle damage based on kinetic energy #916

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merged 16 commits into from
May 26, 2021
Merged

Implements vehicle damage based on kinetic energy #916

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861865f
Implements vehicle damage based on kinetic energy
May 17, 2021
fb85892
Added else
May 19, 2021
651fb04
Added ke_height as sdf parameter
May 20, 2021
615557b
Adding crash factor to robot types
May 20, 2021
2fae2de
Updated X4
May 20, 2021
69bf05a
Merge branch 'master' into nkoenig/haltmotion
May 21, 2021
d43202c
Merged in crash_factor branch
May 21, 2021
56f62bc
review comments
May 21, 2021
7646538
fix RobotPlatformTypes formatting
angelacmaio May 21, 2021
9fa1bd9
collision event name for robot event msg
angelacmaio May 21, 2021
109268f
Merge branch 'master' into nkoenig/haltmotion
May 24, 2021
102aa62
simplify math
May 25, 2021
8c288ee
tweak thresholds
May 25, 2021
b7a9e65
Adjust values, and comment out debug statement
May 25, 2021
3a7692b
Updated collision tolerant UAVs to have the same charcteristics as UG…
acschang May 25, 2021
a273857
Added debug messages
May 25, 2021
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24 changes: 12 additions & 12 deletions subt_ign/include/subt_ign/RobotPlatformTypes.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -23,36 +23,36 @@ const std::map<std::string, double> robotPlatformTypes = {
{"ALLIE", 1},
{"ANYMAL_B", 1},
{"ANYMAL_C", 1},
{"CRYSTAL", 1},
{"DS1", 1},
{"CRYSTAL", 8}, // UAV, no prop guards
{"DS1", 6}, // UAV, prop guards
{"DTR", 1},
{"FREYJA", 1},
{"GAGARIN", 1},
{"GAGARIN", 6}, // UAV, prop guards
{"HD2", 1},
{"HOVERMAP", 1},
{"HOVERMAP", 6}, // UAV, prop guards
{"HUSKY", 1},
{"JEANINE", 1},
{"KAREN", 1},
{"KLOUBAK", 1},
{"LILY", 1},
{"M100", 1},
{"M100", 8}, // UAV, no prop guards
{"MARV", 1},
{"MIKE", 1},
{"OZBOT_ATR", 1},
{"PAM", 1},
{"QAV500", 1},
{"PAM", 6}, // UAV, prop guards
{"QAV500", 6}, // UAV, prop guards
{"R2", 1},
{"R3", 1},
{"RMF", 1},
{"RMF", 6}, // UAV, prop guards
{"ROCKY", 1},
{"SHAFTER", 1},
{"SHAFTER", 8}, // UAV, no prop guards
{"SPOT", 1},
{"TEAMBASE", 1},
{"X1", 1},
{"X2", 1},
{"X3", 7.2},
{"X4", 7.2},
{"X500", 14}
{"X3", 8}, // UAV, no prop guards
{"X6", 8}, // UAV, no prop guards
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{"X500", 8} // UAV, no prop guards
};

#endif
13 changes: 7 additions & 6 deletions subt_ign/src/GameLogicPlugin.cc
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Expand Up @@ -1168,18 +1168,19 @@ void GameLogicPlugin::PreUpdate(const UpdateInfo &_info,
double deltaKE = ke.second.prevKineticEnergy - currKineticEnergy;

// Debug: Compute the factor needed to hit the threshold.
if (deltaKE > 0.01)
{
double factor = ke.second.kineticEnergyThreshold / deltaKE;
std::cout << "KE[" << deltaKE << "] Thresh[" << ke.second.kineticEnergyThreshold << "] Factor[" << factor << "]\n";
}
// if (deltaKE > 0.01)
// {
// double factor = ke.second.kineticEnergyThreshold / deltaKE;
// std::cout << "KE[" << deltaKE << "] Thresh["
// << ke.second.kineticEnergyThreshold << "] Factor["
// << factor << "]\n";
// }

// Apply KE factor.
deltaKE *= robotPlatformTypes.at(
this->dataPtr->robotFullTypes[ke.second.robotName].first);
ke.second.prevKineticEnergy = currKineticEnergy;


// Crash if past the threshold.
if (ke.second.kineticEnergyThreshold > 0 &&
deltaKE >= ke.second.kineticEnergyThreshold)
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