| #pragma once |
|
|
| #include "sim.hpp" |
| #include "utils.hpp" |
|
|
| namespace madrona_gpudrive |
| { |
|
|
| void createPersistentEntities(Engine &ctx); |
|
|
| void resetWorld(Engine &ctx); |
|
|
| |
| void destroyWorld(Engine &ctx); |
|
|
| static inline Action getZeroAction(DynamicsModel model) |
| { |
| switch (model) |
| { |
| case DynamicsModel::Classic: |
| case DynamicsModel::InvertibleBicycle: |
| { |
| return Action{.classic = {0, 0, 0}}; |
| break; |
| } |
|
|
| case DynamicsModel::DeltaLocal: |
| { |
| return Action{.delta{.dx = 0, .dy = 0, .dyaw = 0}}; |
| } |
| case DynamicsModel::State: |
| { |
| return Action{.state = {.position = madrona::math::Vector3{0, 0, 1}, .yaw = 0, .velocity = {.linear = madrona::math::Vector3::zero(), .angular = madrona::math::Vector3::zero()}}}; |
| } |
| default: |
| return Action{.classic = {0, 0, 0}}; |
| } |
| } |
|
|
| static inline void setRoadEntitiesProps(Engine &ctx, |
| Entity road, |
| madrona::math::Vector3 pos, |
| madrona::math::Quat rot, |
| Scale scale, |
| EntityType type, |
| ObjectID objId, |
| ResponseType responseType, |
| uint32_t roadIdx, |
| MapType mapType) |
| { |
| ctx.get<Position>(road) = pos; |
| ctx.get<Rotation>(road) = rot; |
| ctx.get<Velocity>(road) = Velocity{madrona::math::Vector3::zero(), madrona::math::Vector3::zero()}; |
| ctx.get<Scale>(road) = scale; |
| ctx.get<EntityType>(road) = type; |
| ctx.get<ObjectID>(road) = objId; |
| ctx.get<ResponseType>(road) = responseType; |
| ctx.get<RoadMapId>(road).id = roadIdx; |
| ctx.get<MapType>(road) = mapType; |
| ctx.get<MapObservation>(ctx.get<RoadInterfaceEntity>(road).e) = MapObservation{.position = pos.xy(), |
| .scale = scale, |
| .heading = utils::quatToYaw(rot), |
| .type = (float)type, |
| .id = static_cast<float>(roadIdx), |
| .mapType = static_cast<float>(mapType)}; |
| } |
|
|
| } |
