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remove addition of zero Z valued grid point #483

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remove addition of zero Z valued grid point #483

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9 changes: 3 additions & 6 deletions usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -327,19 +327,16 @@ void UsvDynamicsPlugin::Update()

// Compute the depth at the grid point.
double simTime = kTimeNow.Double();
// double depth = WavefieldSampler::ComputeDepthDirectly(
// *waveParams, X, simTime);
double depth = 0.0;
if (waveParams)
{
// depth = WavefieldSampler::ComputeDepthDirectly(
// *waveParams, X, simTime);
depth = WavefieldSampler::ComputeDepthSimply(*waveParams, X, simTime);
}

// Vertical wave displacement.
double dz = depth + X.Z();

// Total z location of boat grid point relative to water surface
double deltaZ = (this->waterLevel + dz) - kDdz;
double deltaZ = (this->waterLevel + depth) - kDdz;
deltaZ = std::max(deltaZ, 0.0); // enforce only upward buoy force
deltaZ = std::min(deltaZ, this->paramHullRadius);
// Buoyancy force at grid point
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