added possibility to forbid tunneling

merschformann · Jun 29, 2020 · c94e69c · c94e69c
1 parent 2f86254
commit c94e69c
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/RAWSimO.Core/Configurations/MethodConfiguration.cs b/RAWSimO.Core/Configurations/MethodConfiguration.cs
@@ -504,6 +504,10 @@ public abstract class PathPlanningConfiguration : ControllerConfigurationBase
         /// </summary>
         public bool AutoSetParameter = false;
 
+        /// <summary>
+        /// Indicates whether the robot can drive under stored pods (tunnel them).
+        /// </summary>
+        public bool CanTunnel = true;
         /// <summary>
         /// The length of a wait step
         /// </summary>

diff --git a/RAWSimO.Core/Control/PathManager.cs b/RAWSimO.Core/Control/PathManager.cs
@@ -374,7 +374,7 @@ private void getBotAgentDictionary(out Dictionary<BotNormal, Agent> botAgentDict
                     Path = bot.Path, //path reference => will be filled
                     FixedPosition = bot.hasFixedPosition(),
                     Resting = bot.IsResting(),
-                    CanGoThroughObstacles = bot.Pod == null,
+                    CanGoThroughObstacles = Instance.ControllerConfig.PathPlanningConfig.CanTunnel && bot.Pod == null,
                     Physics = bot.Physics,
                     RequestReoptimization = bot.RequestReoptimization,
                     Queueing = bot.IsQueueing,