def main():
# ---------------
# Create a system
# Systems describe simulation settings and can be used to
# update dynamics
system = wa.WAChronoSystem(args=args)
# ---------------------
# Create an environment
# An environment handles external assets (trees, barriers, etc.) and terrain characteristics
# Pre-made evGrand Prix (EGP) env file
env_filename = wa.WAChronoEnvironment.EGP_ENV_MODEL_FILE
environment = wa.WAChronoEnvironment(system, env_filename)
# --------------------------------
# Create the vehicle inputs object
# This is a shared object between controllers, visualizations and vehicles
vehicle_inputs = wa.WAVehicleInputs()
# ----------------
# Create a vehicle
# Pre-made go kart veh file
init_loc = wa.WAVector([49.8, 132.9, 0.5])
veh_filename = wa.WAChronoVehicle.GO_KART_MODEL_FILE
vehicle = wa.WAChronoVehicle(system, vehicle_inputs, environment, veh_filename, init_loc=init_loc)
# -------------
# Create a Path
# Load data points from a csv file and interpolate a path
filename = wa.get_wa_data_file("paths/sample_medium_loop.csv")
points = wa.load_waypoints_from_csv(filename, delimiter=",")
path = wa.WASplinePath(points, num_points=1000, is_closed=True)
# ------------------
# Create n opponents
opponents = []
opponent_vehicle_inputs_list = []
num_opponents = args.num_opponents
for i in range(num_opponents):
opponent_init_loc = wa.WAVector(points[i+1])
opponent_init_loc.z = 0.1
opponent_vehicle_inputs = wa.WAVehicleInputs()
opponent = wa.WAChronoVehicle(system, opponent_vehicle_inputs, environment,
veh_filename, init_loc=opponent_init_loc)
opponents.append(opponent)
opponent_vehicle_inputs_list.append(opponent_vehicle_inputs)
# ----------------------
# Create a visualization
# It's nice to visualize the "look ahead" points for the controller
# Add two spheres/dots for that purpose
position = wa.WAVector()
size = wa.WAVector([0.1, 0.1, 0.1])
kwargs = {'position': position, 'size': size, 'body_type': 'sphere', 'updates': True}
sentinel_sphere = environment.create_body(name='sentinel', color=wa.WAVector([1, 0, 0]), **kwargs)
target_sphere = environment.create_body(name='target', color=wa.WAVector([0, 1, 0]), **kwargs)
# Will use irrlicht or matplotlib for visualization
visualizations = []
if args.irrlicht:
irr = wa.WAChronoIrrlicht(system, vehicle, vehicle_inputs, environment=environment, opponents=opponents)
visualizations.append(irr)
if args.sensor:
sens = wa.WAChronoSensorVisualization(system, vehicle, vehicle_inputs, environment=environment)
visualizations.append(sens)
if args.matplotlib:
mat = wa.WAMatplotlibVisualization(system, vehicle, vehicle_inputs,
environment=environment, plotter_type="multi", opponents=opponents)
visualizations.append(mat)
# -------------------
# Create a controller
# Create a pid controller
controller = PIDController(system, vehicle, vehicle_inputs, path)
controller.get_long_controller().set_target_speed(9)
controller.get_long_controller().set_gains(0.1, 0, 1e-2)
controllers = [controller]
for i in range(num_opponents):
opponent_controller = PIDController(system, opponents[i], opponent_vehicle_inputs_list[i], path)
opponent_controller.get_long_controller().set_target_speed(9)
opponent_controller.get_long_controller().set_gains(0.1, 0, 1e-2)
controllers.append(opponent_controller)
# --------------------------
# Create a simuation wrapper
# Will be responsible for actually running the simulation
sim_manager = wa.WASimulationManager(system, environment, vehicle, *visualizations, *controllers, *opponents)
# ---------------
# Simulation loop
step_size = system.step_size
while sim_manager.is_ok():
time = system.time
sim_manager.synchronize(time)
sim_manager.advance(step_size)
# Update the position of the spheres
target_sphere.position = controller.get_target_pos()
sentinel_sphere.position = controller.get_sentinel_pos()
