avoid collision between striker and striker supporter #1934
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schluis
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Jul 15, 2025
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| let is_opponent_kickoff = if let Some(filtered_game_controller_state) = | ||
| &world_state.filtered_game_controller_state | ||
| { | ||
| filtered_game_controller_state.kicking_team == Some(Team::Opponent) |
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This doesn't seem to only apply during a kickoff. See here: determine_playing_situation in kick_selector.rs.
This also triggers, if a kickoff during the game occurs, and not exclusively, if the robots are walking into the field from the sidelines. I think you have to find a way to distinguish this.
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Good catch, thanks. I hope it is fixed now. I now check also for the first kick_off, which is after initial.
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…he field Co-authored-by: phillip kammradt <phillip.kammradt@tuhh>
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Why? What?
To avoid collisions between striker and striker supporter when entering the field for opponent kickoff, the path of the striker supporter (4) is split into two segments depending on a path checkpoint.
Fixes #1298
ToDo / Known Issues
Ideas for Next Iterations (Not This PR)
If there are some improvements that could be done in a next iteration, describe them here.
How to Test
We tested it in the bevyhavior simulator so far because we need a field. Run the
golden_goal_opponent_kickoffin the bevyhavior simulator and there should still not be a collision ingolden_goal.