def _joust(wkc: AckermannChassis, bkc: AckermannChassis, steps, throttle=1):
collisions = ([], [])
for _ in range(steps):
wkc.control(throttle)
bkc.control(throttle)
bkc._client.stepSimulation()
collisions[0].extend(wkc.contact_points)
collisions[1].extend(bkc.contact_points)
return collisions
def step_with_vehicle_commands(
bv: AckermannChassis, steps, throttle=0, brake=0, steering=0
):
collisions = []
for _ in range(steps):
bv.control(throttle, brake, steering)
bv._client.stepSimulation()
collisions.extend(bv.contact_points)
return collisions