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