do not kill robot if it collides, just give it a penalty.

MADEAPPS · Sep 28, 2024 · 6807a81 · 6807a81
1 parent fe75d2b
commit 6807a81
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp b/newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp
@@ -463,11 +463,6 @@ namespace ndAdvancedRobot
 				}
 			}
 
-			if (ModelCollided())
-			{
-				return true;
-			}
-
 			return false;
 		}
 
@@ -518,6 +513,11 @@ namespace ndAdvancedRobot
 				return ND_DEAD_PENALTY;
 			}
 
+			if (ModelCollided())
+			{
+				return ND_DEAD_PENALTY;
+			}
+
 			const ndMatrix effectorMatrix(m_effectorLocalTarget * m_arm_4->GetBody0()->GetMatrix());
 			const ndMatrix baseMatrix(m_effectorLocalBase * m_base_rotator->GetBody1()->GetMatrix());
 			const ndMatrix currentEffectorMatrix(effectorMatrix * baseMatrix.OrthoInverse());
@@ -574,7 +574,7 @@ namespace ndAdvancedRobot
 
 			bool hitaLimit = m_arm_0->GetJointHitLimits() || m_arm_1->GetJointHitLimits();
 
-			observation->m_hitLimit = ndBrainFloat (hitaLimit ? 1.0 : 0.0f);
+			observation->m_hitLimit = ndBrainFloat (hitaLimit ? 1.0f : 0.0f);
 			observation->m_collided = ndBrainFloat(ModelCollided() ? 1.0f : 0.0f);
 
 			const ndMatrix effectorMatrix(m_effectorLocalTarget * m_arm_4->GetBody0()->GetMatrix());