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Rifts Main Book page 12 has it under 'physical damage while inside a MDC structure'. Situations are falls, high-speed crashes, and explosion impacts.

Presumably other forms of attack do not harm the pilot inside. Though I'd say high-PS punches from giant things should qualify for impact damage too.

RUE might have expanded this, forget page. Anyone know if Robotech has it? Also not sure if rules like this exist for SDC setting robots.

To my experience, Robotech has yet to introduce a blanket "Physical damage in an MDC structure" to the game. The closest reference is in the Surviving an Aircraft Crash-Landing rule. Even then, the reinforced pilot compartment seems to protect the pilot either completely or significantly reduces damage in the majority of situations.

Rifts: Ultimate Edition, pg. 355: Hit Points/S.D.C. Damage While Inside M.D.C. Armour (optional)

I hate the word optional, all rules are optional for GMs to enforce anyway since they can change whatever they want.

Setting-canon and non-canon should be used instead.