From 58e06a19ffd555f421f1d4a40b1422c95619a5f6 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Date: Wed, 6 Nov 2024 18:13:19 -0500
Subject: [PATCH] Allow collisions between walls in rooms and hallways (#294)

---
 pyrobosim/pyrobosim/core/world.py | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/pyrobosim/pyrobosim/core/world.py b/pyrobosim/pyrobosim/core/world.py
index 7890198f..b985f018 100644
--- a/pyrobosim/pyrobosim/core/world.py
+++ b/pyrobosim/pyrobosim/core/world.py
@@ -165,9 +165,7 @@ def add_room(self, **room_config):
         # Check if the room collides with any other rooms or hallways
         is_valid_pose = True
         for other_loc in self.rooms + self.hallways:
-            if room.external_collision_polygon.intersects(
-                other_loc.external_collision_polygon
-            ):
+            if room.polygon.intersects(other_loc.external_collision_polygon):
                 is_valid_pose = False
                 break
         if not is_valid_pose:
@@ -272,9 +270,7 @@ def add_hallway(self, **hallway_config):
         for other_loc in self.rooms + self.hallways:
             if (other_loc == hallway.room_start) or (other_loc == hallway.room_end):
                 continue
-            if hallway.external_collision_polygon.intersects(
-                other_loc.external_collision_polygon
-            ):
+            if hallway.polygon.intersects(other_loc.external_collision_polygon):
                 is_valid_pose = False
                 break
         if not is_valid_pose: