File size: 5,816 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 | #pragma once
#include "binary_heap.hpp"
#include "types.hpp"
#include <algorithm>
#include <madrona/math.hpp>
#include <madrona/types.hpp>
#include "utils.hpp"
#ifndef MADRONA_GPU_MODE
#include <vector>
#endif
namespace {
bool cmp(const madrona_gpudrive::MapObservation &lhs, const madrona_gpudrive::MapObservation &rhs) {
return lhs.position.length2() < rhs.position.length2();
}
void fillZeros(madrona_gpudrive::MapObservation *begin,
madrona_gpudrive::MapObservation *beyond) {
while (begin < beyond) {
*begin++ =
madrona_gpudrive::MapObservation{.position = {0, 0},
.scale = madrona::math::Diag3x3{0, 0, 0},
.heading = 0.f,
.type = (float)madrona_gpudrive::EntityType::None};
}
}
madrona_gpudrive::MapObservation
relativeObservation(const madrona_gpudrive::MapObservation &absoluteObservation,
const madrona::base::Rotation &referenceRotation,
const madrona::math::Vector2 &referencePosition) {
auto relativePosition =
madrona::math::Vector2{.x = absoluteObservation.position.x,
.y = absoluteObservation.position.y} -
referencePosition;
return madrona_gpudrive::MapObservation{
.position = referenceRotation.inv()
.rotateVec({relativePosition.x, relativePosition.y, 0})
.xy(),
.scale = absoluteObservation.scale,
.heading = madrona_gpudrive::utils::quatToYaw(referenceRotation.inv() * madrona::math::Quat::angleAxis(absoluteObservation.heading,madrona::math::up)),
.type = absoluteObservation.type};
}
bool isObservationsValid(madrona_gpudrive::Engine &ctx,
madrona_gpudrive::MapObservation *observations,
madrona::CountT K,
const madrona::base::Rotation &referenceRotation,
const madrona::math::Vector2 &referencePosition) {
#ifdef MADRONA_GPU_MODE
return true;
#else
const auto roadCount = ctx.data().numRoads;
std::vector<madrona_gpudrive::MapObservation> sortedObservations;
sortedObservations.reserve(roadCount);
for (madrona::CountT roadIdx = 0; roadIdx < roadCount; ++roadIdx) {
auto &road_iface = ctx.get<madrona_gpudrive::RoadInterfaceEntity>(ctx.data().roads[roadIdx]).e;
const auto ¤tObservation =
ctx.get<madrona_gpudrive::MapObservation>(road_iface);
sortedObservations.emplace_back(relativeObservation(
currentObservation, referenceRotation, referencePosition));
}
std::sort(sortedObservations.begin(), sortedObservations.end(), cmp);
std::sort(observations, observations + K, cmp);
return std::equal(observations, observations + K, sortedObservations.begin(),
sortedObservations.begin() + K,
[](const madrona_gpudrive::MapObservation &lhs,
const madrona_gpudrive::MapObservation &rhs) {
return lhs.position.x == rhs.position.x &&
lhs.position.y == rhs.position.y;
});
#endif
}
madrona::CountT radiusFilter(madrona_gpudrive::MapObservation *heap, madrona::CountT K, float radius) {
madrona::CountT newBeyond{K};
madrona::CountT idx{0};
while (idx < newBeyond) {
if (heap[idx].position.length() <= radius) {
++idx;
continue;
}
heap[idx] = heap[--newBeyond];
}
return newBeyond;
}
} // namespace
namespace madrona_gpudrive {
template <madrona::CountT K>
void selectKNearestRoadEntities(Engine &ctx, const Rotation &referenceRotation,
const madrona::math::Vector2 &referencePosition,
madrona_gpudrive::MapObservation *heap) {
const Entity *roads = ctx.data().roads;
const auto roadCount = ctx.data().numRoads;
utils::ReferenceFrame referenceFrame(referencePosition, referenceRotation);
for (madrona::CountT i = 0; i < std::min(roadCount, K); ++i) {
heap[i] =
referenceFrame.observationOf(ctx.get<madrona::base::Position>(roads[i]),
ctx.get<madrona::base::Rotation>(roads[i]),
ctx.get<madrona::base::Scale>(roads[i]),
ctx.get<madrona_gpudrive::EntityType>(roads[i]),
static_cast<float>(ctx.get<RoadMapId>(roads[i]).id),
ctx.get<MapType>(roads[i]));
}
if (roadCount < K) {
auto newBeyond = radiusFilter(heap, roadCount, ctx.data().params.observationRadius);
fillZeros(heap + newBeyond, heap + K);
return;
}
make_heap(heap, heap + K, cmp);
for (madrona::CountT roadIdx = K; roadIdx < roadCount; ++roadIdx) {
auto currentObservation = referenceFrame.observationOf(
ctx.get<madrona::base::Position>(roads[roadIdx]),
ctx.get<madrona::base::Rotation>(roads[roadIdx]),
ctx.get<madrona::base::Scale>(roads[roadIdx]),
ctx.get<madrona_gpudrive::EntityType>(roads[roadIdx]),
static_cast<float>(ctx.get<RoadMapId>(roads[roadIdx]).id),
ctx.get<MapType>(roads[roadIdx]));
const auto &kthNearestObservation = heap[0];
bool isCurrentObservationCloser =
cmp(currentObservation, kthNearestObservation);
if (not isCurrentObservationCloser) {
continue;
}
pop_heap(heap, heap + K, cmp);
heap[K - 1] = currentObservation;
push_heap(heap, heap + K, cmp);
}
assert(
isObservationsValid(ctx, heap, K, referenceRotation, referencePosition));
auto newBeyond = radiusFilter(heap, K, ctx.data().params.observationRadius);
fillZeros(heap + newBeyond, heap + K);
}
} // namespace madrona_gpudrive
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