Fix Collisions in Co-Simulation

Changes

Collisions in GSClient are now enabled
Fixed the issue where vehicles would collide at the start of the simulation
The problem was that, in GSClient.cpp, the vehicles were being spawned at the origin and their state wasn't being set (so it was defaulting to the origin)
After collisions were fixed, collisions with the trigger would count as vehicle collisions and GSServer would stop
Now only collisions with actors with the "gsvehicle" tag will set isActive to False (i.e., stop GSS)

Testing

Setup

cd ~/anm_unreal_test_suite/
bash ~/anm_unreal_sim/submodules/base_unreal_project/package.sh
bash scripts/wise_sim_switch.bash dev
bash scripts/gss_switch.bash release

Test 1

Run the following scenarios and hit drive right away:

slaunch ring_road_ccw -s
slaunch ring_road_section_cut_in -s

There should not be any collisions

Test 2

In JOSM, open maps/ring_road/ringroad.osm, scenarios/ring_road_ccw/geoscenarioserver/ring_road_ccw.osm, scenarios/ring_road_ccw/ring_road_ccw.osm
Next, place the ego from scenarios/ring_road_ccw/ring_road_ccw.osm right before the stop line in front of vehicle 3
Note: if the ego and vehicle 3 are overlapping at the start, then a collision will not be reported (I think this is an Unreal Engine problem)
Run:
```
slaunch ring_road_ccw -s
```

vehicle 3 should rear-end the ego and in logs/<timestamp>/GeoScenarioServer.log:

...
GSS crash report:
...
VID 3:
state       DISABLED
position    (248.33343015604814,460.72705207023597,0.0)
speed       3.0706158187497836
...

I also repeated test 2 with master (wise-sim on release) and I also got the same collision
Collision between vehicles 99 3
which confuses me. In any case, we are getting the collisions with both the ego and among the GSS vehicles too, which is good.

This collision is a collision detected by GSServer, not by GSClient. In GSServer, when the unit circles overlap, you see

...
Collision between vehicles x y
...

That's why it is reported when using this branch and when using master. When GSClient detects the collision, it gets reported to GSServer, and you will see

...
VID X:
   state       DISABLED
   position    (0.0, 0.0)
   speed       0.0
 ...
VID Y:
   state       DISABLED
   position    (0.0, 0.0)
   speed       0.0
...

I had a lot of trouble getting the ego and vehicle 3 to collide in GSClient, but I was able to get it eventually. I don't think it's a big deal to get the vehicles to crash. The main thing is that both scenarios work now and collisions are enabled. Getting GSClient to detect the crash was just to make sure that collisions are fixed and not somehow still disabled.

rodrigoqueiroz / geoscenarioserver