class HeightfieldVehicle(ShowBase):
def __init__(self, heightfield_fn="heightfield.png"):
# Store the heightfield's filename.
self.heightfield_fn = heightfield_fn
"""
Load some configuration variables, it's important for this to happen
before ShowBase is initialized
"""
load_prc_file_data("", """
sync-video #t
textures-power-2 none
###gl-coordinate-system default
notify-level-gobj warning
notify-level-grutil debug
notify-level-shader_terrain debug
notify-level-bullet debug
### model paths
model-path /usr/share/panda3d
model-path /home/juzzuj/code/prereq/bullet-samples/bullet-samples
""")
ShowBase.__init__(self)
base.set_background_color(0.1, 0.1, 0.8, 1)
base.set_frame_rate_meter(True)
# Increase camera Field Of View and set near and far planes
base.camLens.set_fov(90)
base.camLens.set_near_far(0.1, 50000)
# Lights
alight = AmbientLight('ambientLight')
alight.set_color(LVector4(0.5, 0.5, 0.5, 1))
alightNP = render.attach_new_node(alight)
dlight = DirectionalLight('directionalLight')
dlight.set_direction(LVector3(1, 1, -1))
dlight.set_color(LVector4(0.7, 0.7, 0.7, 1))
dlightNP = render.attach_new_node(dlight)
render.clear_light()
render.set_light(alightNP)
render.set_light(dlightNP)
# Basic game controls
self.accept('escape', self.do_exit)
self.accept('f1', base.toggle_wireframe)
self.accept('f2', base.toggle_texture)
self.accept('f3', self.toggle_debug)
self.accept('f5', self.do_screenshot)
self.accept('r', self.do_reset)
# Vehicle controls
inputState.watchWithModifiers('forward', 'w')
inputState.watchWithModifiers('turnLeft', 'a')
inputState.watchWithModifiers('reverse', 's')
inputState.watchWithModifiers('turnRight', 'd')
inputState.watchWithModifiers('forward', 'arrow_up')
inputState.watchWithModifiers('turnLeft', 'arrow_left')
inputState.watchWithModifiers('reverse', 'arrow_down')
inputState.watchWithModifiers('turnRight', 'arrow_right')
self.accept('space', self.reset_vehicle)
# Controls to do with the terrain
#self.accept('t', self.rise_in_front)
self.accept('t', self.deform_terrain, ["raise"])
self.accept('g', self.deform_terrain, ["depress"])
self.accept('b', self.drop_boxes)
# Some debugging and miscellaneous controls
self.accept('e', self.query_elevation)
self.accept('c', self.convert_coordinates)
self.accept('p', self.save)
self.accept('h', self.hide_terrain)
# Task
taskMgr.add(self.update, 'updateWorld')
self.setup()
"""
Macro-like function used to reduce the amount to code needed to create the
on screen instructions
"""
def genLabelText(self, i, text, parent="a2dTopLeft"):
return OnscreenText(text=text, parent=getattr(base, parent), scale=.05,
pos=(0.06, -.065 * i), fg=(1, 1, 1, 1),
align=TextNode.ALeft)
# _____HANDLER_____
def cleanup(self):
self.world = None
self.worldNP.remove_node()
self.terrain.remove_node()
self.skybox.remove_node()
del self.terrain_node
def do_exit(self):
self.cleanup()
sys.exit(1)
def do_reset(self):
self.cleanup()
self.setup()
def toggle_debug(self):
if self.debugNP.is_hidden():
self.debugNP.show()
else:
self.debugNP.hide()
def do_screenshot(self):
base.screenshot('HeightfieldVehicle')
# ____TASK___
def update(self, task):
# Get the time passed since the last frame
dt = globalClock.get_dt()
# Pass dt as parameter (we need it for sensible steering calculations)
self.process_input(dt)
"""
Basically, we want to put our camera where the camera floater is. We
need the floater's world (=render-relative) position (it's parented to
the vehicle)
"""
floater_pos = render.get_relative_point(self.camera_floater,
LVector3(0))
"""
If the camera floater is under the terrain surface, adjust it, so that
it stays above the terrain.
"""
elevation_at_floater_pos = self.query_elevation(floater_pos)
if elevation_at_floater_pos.z >= floater_pos.z:
floater_pos.z = elevation_at_floater_pos.z + 1.
# Now we set our camera's position and make it look at the vehicle.
base.cam.set_pos(floater_pos)
base.cam.look_at(self.vehicleNP)
# Let the Bullet library do physics calculations.
self.world.do_physics(dt, 10, 0.008)
return task.cont
def process_input(self, dt):
# Relax steering towards straight
self.steering *= 1 - self.steering_relax_factor * dt
engine_force = 0.0
brake_force = 0.0
if inputState.isSet('forward'):
engine_force = 1000.0
brake_force = 0.0
if inputState.isSet('reverse'):
engine_force = 0.0
brake_force = 100.0
if inputState.isSet('turnLeft'):
self.steering += dt * self.steering_increment
self.steering = min(self.steering, self.steering_clamp)
if inputState.isSet('turnRight'):
self.steering -= dt * self.steering_increment
self.steering = max(self.steering, -self.steering_clamp)
# Lower steering intensity for high speeds
self.steering *= 1. - (self.vehicle.get_current_speed_km_hour() *
self.steering_speed_reduction_factor)
# Apply steering to front wheels
#self.vehicle.get_wheels()[0].set_steering(self.steering)
#self.vehicle.get_wheels()[1].set_steering(self.steering)
#self.vehicle.wheels[0].steering = self.steering
#self.vehicle.wheels[1].steering = self.steering
self.vehicle.set_steering_value(self.steering, 0)
self.vehicle.set_steering_value(self.steering, 1)
# Apply engine and brake to rear wheels
#self.vehicle.wheels[2].engine_force = engine_force
#self.vehicle.wheels[3].engine_force = engine_force
#self.vehicle.wheels[2].brake = brake_force
#self.vehicle.wheels[3].brake = brake_force
self.vehicle.apply_engine_force(engine_force, 2)
self.vehicle.apply_engine_force(engine_force, 3)
self.vehicle.set_brake(brake_force, 2)
self.vehicle.set_brake(brake_force, 3)
def setup(self):
# Bullet physics world
self.worldNP = render.attach_new_node('World')
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Vehicle
# Steering info
self.steering = 0.0 # degrees
self.steering_clamp = 45.0 # degrees
self.steering_increment = 120.0 # degrees per second
# How fast steering relaxes to straight ahead
self.steering_relax_factor = 2.0
# How much steering intensity decreases with higher speeds
self.steering_speed_reduction_factor = 0.003
# Chassis collision box (note: Bullet uses half-measures)
shape = BulletBoxShape(LVector3(0.6, 1.4, 0.5))
ts = TransformState.make_pos(LPoint3(0, 0, 0.5))
self.vehicleNP = self.worldNP.attach_new_node(
BulletRigidBodyNode('Vehicle'))
self.vehicleNP.node().add_shape(shape, ts)
# Set initial position
self.vehicleNP.set_pos(0, 70, -10)
self.vehicleNP.node().set_mass(800.0)
self.vehicleNP.node().set_deactivation_enabled(False)
self.world.attach(self.vehicleNP.node())
# Camera floater
self.attach_camera_floater()
# BulletVehicle
self.vehicle = BulletVehicle(self.world, self.vehicleNP.node())
self.world.attach(self.vehicle)
# Vehicle model
self.yugoNP = loader.load_model('models/yugo/yugo.egg')
self.yugoNP.reparent_to(self.vehicleNP)
# Right front wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, -1.05, 0.3), False, np)
# Load a skybox
self.skybox = self.loader.load_model(
"samples/shader-terrain/models/skybox.bam")
self.skybox.reparent_to(self.render)
self.skybox.set_scale(20000)
skybox_texture = self.loader.load_texture(
"samples/shader-terrain/textures/skybox.jpg")
skybox_texture.set_minfilter(SamplerState.FT_linear)
skybox_texture.set_magfilter(SamplerState.FT_linear)
skybox_texture.set_wrap_u(SamplerState.WM_repeat)
skybox_texture.set_wrap_v(SamplerState.WM_mirror)
skybox_texture.set_anisotropic_degree(16)
self.skybox.set_texture(skybox_texture)
skybox_shader = Shader.load(Shader.SL_GLSL,
"samples/shader-terrain/skybox.vert.glsl",
"samples/shader-terrain/skybox.frag.glsl")
self.skybox.set_shader(skybox_shader)
# Terrain
self.setup_terrain()
def add_wheel(self, pos, front, np):
wheel = self.vehicle.create_wheel()
wheel.set_node(np.node())
wheel.set_chassis_connection_point_cs(pos)
wheel.set_front_wheel(front)
wheel.set_wheel_direction_cs(LVector3(0, 0, -1))
wheel.set_wheel_axle_cs(LVector3(1, 0, 0))
wheel.set_wheel_radius(0.25)
wheel.set_max_suspension_travel_cm(40.0)
wheel.set_suspension_stiffness(40.0)
wheel.set_wheels_damping_relaxation(2.3)
wheel.set_wheels_damping_compression(4.4)
wheel.set_friction_slip(100.0)
wheel.set_roll_influence(0.1)
def attach_camera_floater(self):
"""
Set up an auxiliary camera floater, which is parented to the vehicle.
Every frame base.cam's position will be set to the camera floater's.
"""
camera_behind = 8
camera_above = 3
self.camera_floater = NodePath("camera_floater")
self.camera_floater.reparent_to(self.vehicleNP)
self.camera_floater.set_y(-camera_behind)
self.camera_floater.set_z(camera_above)
def reset_vehicle(self):
reset_pos = self.vehicleNP.get_pos()
reset_pos.z += 3
self.vehicleNP.node().clear_forces()
self.vehicleNP.node().set_linear_velocity(LVector3(0))
self.vehicleNP.node().set_angular_velocity(LVector3(0))
self.vehicleNP.set_pos(reset_pos)
self.vehicleNP.set_hpr(LVector3(0))
def drop_boxes(self):
"""
Puts a stack of boxes at a distance in front of the vehicle.
The boxes will not necessarily spawn above the terrain and will not
be cleaned up.
"""
model = loader.load_model('models/box.egg')
model.set_pos(-0.5, -0.5, -0.5)
model.flatten_light()
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
ahead = self.vehicleNP.get_pos() + self.vehicle.get_forward_vector()*15
for i in range(6):
node = BulletRigidBodyNode('Box')
node.set_mass(5.0)
node.add_shape(shape)
node.set_deactivation_enabled(False)
np = render.attach_new_node(node)
np.set_pos(ahead.x, ahead.y, ahead.z + i*2)
self.world.attach(node)
model.copy_to(np)
def query_elevation(self, xy_pos=None):
"""
Query elevation for xy_pos if present, else for vehicle position.
No xy_pos means verbose mode.
"""
query_pos = xy_pos or self.vehicleNP.get_pos()
"""
This method is accurate and may be useful for placing
objects on the terrain surface.
"""
result = self.world.ray_test_closest(
LPoint3(query_pos.x, query_pos.y, -10000),
LPoint3(query_pos.x, query_pos.y, 10000))
if result.has_hit():
hit_pos = result.get_hit_pos()
if not xy_pos:
print("Bullet heightfield elevation at "
"X {:.2f} | Y {:.2f} is {:.3f}".format(
hit_pos.x, hit_pos.y, hit_pos.z))
else:
hit_pos = None
if not xy_pos:
print("Could not query elevation at {}".format(xy_pos))
"""
This method is less accurate than the one above.
Under heavy ray-testing stress (ray tests are performed for all vehicle
wheels, the above elevation query etc.) Bullet sometimes seems to be a
little unreliable.
"""
texspace_pos = self.terrain.get_relative_point(render, query_pos)
stm_pos = self.terrain_node.uv_to_world(
LTexCoord(texspace_pos.x, texspace_pos.y))
if not xy_pos:
print("ShaderTerrainMesh elevation at "
"X {:.2f} | Y {:.2f} is {:.3f}".format(
stm_pos.x, stm_pos.y, stm_pos.z))
return hit_pos or stm_pos
def setup_terrain(self):
"""
Terrain info
Units are meters, which is preferable when working with Bullet.
"""
self.terrain_scale = LVector3(512, 512, 100)
self.terrain_pos = LVector3(-256, -256, -70)
# sample values for a 4096 x 4096px heightmap.
#self.terrain_scale = LVector3(4096, 4096, 1000)
#self.terrain_pos = LVector3(-2048, -2048, -70)
"""
Diamond_subdivision is an alternating triangulation scheme and may
produce better results.
"""
use_diamond_subdivision = True
"""
Construct the terrain
Without scaling, any ShaderTerrainMesh is 1x1x1 units.
"""
self.terrain_node = ShaderTerrainMesh()
"""
Set a heightfield, the heightfield should be a 16-bit png and
have a quadratic size of a power of two.
"""
heightfield = Texture()
heightfield.read(self.heightfield_fn)
heightfield.set_keep_ram_image(True)
self.terrain_node.heightfield = heightfield
# Display characteristic values of the heightfield texture
#minpoint, maxpoint, avg = LPoint3(), LPoint3(), LPoint3()
#heightfield.calc_min_max(minpoint, maxpoint)
#heightfield.calc_average_point(avg, 0.5, 0.5, 0.5)
#print("avg: {} min: {} max: {}".format(avg.x, minpoint.x, maxpoint.x))
"""
Set the target triangle width. For a value of 10.0 for example,
the ShaderTerrainMesh will attempt to make every triangle 10 pixels
wide on screen.
"""
self.terrain_node.target_triangle_width = 10.0
if use_diamond_subdivision:
"""
This has to be specified before calling .generate()
The default is false.
"""
load_prc_file_data("", "stm-use-hexagonal-layout true")
self.terrain_node.generate()
"""
Attach the terrain to the main scene and set its scale. With no scale
set, the terrain ranges from (0, 0, 0) to (1, 1, 1)
"""
self.terrain = self.render.attach_new_node(self.terrain_node)
self.terrain.set_scale(self.terrain_scale)
self.terrain.set_pos(self.terrain_pos)
"""
Set a vertex and a fragment shader on the terrain. The
ShaderTerrainMesh only works with an applied shader.
"""
terrain_shader = Shader.load(Shader.SL_GLSL,
"samples/shader-terrain/terrain.vert.glsl",
"samples/shader-terrain/terrain.frag.glsl")
self.terrain.set_shader(terrain_shader)
self.terrain.set_shader_input("camera", base.camera)
# Set some texture on the terrain
grass_tex = self.loader.load_texture(
"samples/shader-terrain/textures/grass.png")
grass_tex.set_minfilter(SamplerState.FT_linear_mipmap_linear)
grass_tex.set_anisotropic_degree(16)
self.terrain.set_texture(grass_tex)
"""
Set up the DynamicHeightfield (it's a type of PfmFile). We load the
same heightfield image as with ShaderTerrainMesh.
"""
self.DHF = DynamicHeightfield()
self.DHF.read(self.heightfield_fn)
"""
Set up empty PfmFiles to prepare stuff in that is going to
dynamically modify our terrain.
"""
self.StagingPFM = PfmFile()
self.RotorPFM = PfmFile()
"""
Set up the BulletHeightfieldShape (=collision terrain) and give it
some sensible physical properties.
"""
self.HFS = BulletHeightfieldShape(self.DHF, self.terrain_scale.z,
STM=True)
if use_diamond_subdivision:
self.HFS.set_use_diamond_subdivision(True)
HFS_rigidbody = BulletRigidBodyNode("BulletTerrain")
HFS_rigidbody.set_static(True)
friction = 2.0
HFS_rigidbody.set_anisotropic_friction(
LVector3(friction, friction, friction/1.3))
HFS_rigidbody.set_restitution(0.3)
HFS_rigidbody.add_shape(self.HFS)
self.world.attach(HFS_rigidbody)
HFS_NP = NodePath(HFS_rigidbody)
HFS_NP.reparent_to(self.worldNP)
"""
This aligns the Bullet terrain with the ShaderTerrainMesh rendered
terrain. It will be exact as long as the terrain vertex shader from
the STM sample is used and no additional tessellation shader.
For Bullet (as for other physics engines) the origin of objects is at
the center.
"""
HFS_NP.set_pos(self.terrain_pos + self.terrain_scale/2)
HFS_NP.set_sx(self.terrain_scale.x / heightfield.get_x_size())
HFS_NP.set_sy(self.terrain_scale.y / heightfield.get_y_size())
# Disables Bullet debug rendering for the terrain, because it is slow.
#HFS_NP.node().set_debug_enabled(False)
"""
Finally, link the ShaderTerrainMesh and the BulletHeightfieldShape to
the DynamicHeightfield. From now on changes to the DynamicHeightfield
will propagate to the (visible) ShaderTerrainMesh and the (collidable)
BulletHeightfieldShape.
"""
self.HFS.set_dynamic_heightfield(self.DHF)
self.terrain_node.set_dynamic_heightfield(self.DHF)
def deform_terrain(self, mode="raise", duration=1.0):
self.deform_duration = duration
"""
Calculate distance to the spot at which we want to raise the terrain.
At its current speed the vehicle would reach it in 2.5 seconds.
[km/h] / 3.6 = [m/s] * [s] = [m]
"""
distance = self.vehicle.get_current_speed_km_hour() / 3.6 * 2.5
spot_pos_world = (self.vehicleNP.get_pos() +
self.vehicle.get_forward_vector() * distance)
spot_pos_heightfield = self.terrain_node.world_to_heightfield(
spot_pos_world)
xcenter = spot_pos_heightfield.x
ycenter = spot_pos_heightfield.y
"""
To create a smooth hill/depression we call PfmFile.pull_spot to create
a sort of gradient. You can use self.cardmaker_debug to view it.
From the Panda3D API documentation of PfmFile.pull_spot:
Applies delta * t to the point values within radius (xr, yr)
distance of (xc, yc). The t value is scaled from 1.0 at the center
to 0.0 at radius (xr, yr), and this scale follows the specified
exponent. Returns the number of points affected.
"""
# Delta to apply to the point values in DynamicHeightfield array.
delta = LVector4(0.001)
# Make the raised spot elliptical.
xradius = 10.0 # meters
yradius = 6.0 # meters
# Choose an exponent
exponent = 0.6
# Counter-clockwise angle between Y-axis
angle = self.vehicle.get_forward_vector().signed_angle_deg(
LVector3.forward(), LVector3.down())
# Define all we need to repeatedly deform the terrain using a task.
self.spot_params = [delta, xcenter, ycenter, xradius, yradius,
exponent, mode]
# Clear staging area to a size that fits our raised region.
self.StagingPFM.clear(int(xradius)*2, int(yradius)*2, num_channels=1)
"""
There are two options:
(1) Rotate our hill/depression to be perpendicular
to the vehicle's trajectory. This is the default.
(2) Just put it in the terrain unrotated.
"""
# Option (1)
self.StagingPFM.pull_spot(delta,
xradius-0.5, yradius-0.5,
xradius, yradius,
exponent)
# Rotate wider side so it's perpendicular to vehicle's trajectory.
self.RotorPFM.rotate_from(self.StagingPFM, angle)
self.raise_start_time = globalClock.get_real_time()
taskMgr.do_method_later(0.03, self.deform_perpendicular,
"DeformPerpendicularSpot")
# Option (2)
#taskMgr.do_method_later(0.03, self.deform_regular, "RaiseASpot")
def deform_perpendicular(self, task):
if (globalClock.get_real_time() - self.raise_start_time <
self.deform_duration):
(delta, xcenter, ycenter,
xradius, yradius, exponent, mode) = self.spot_params
"""
Copy rotated hill to our DynamicHeightfield.
The values from RotorPFM are added to the ones found in the
DynamicHeightfield.
"""
self.DHF.add_sub_image(self.RotorPFM,
int(xcenter - self.RotorPFM.get_x_size()/2),
int(ycenter - self.RotorPFM.get_y_size()/2),
0, 0, self.RotorPFM.get_x_size(), self.RotorPFM.get_y_size(),
1.0 if mode == "raise" else -1.0)
# Output images of our PfmFiles.
#self.RotorPFM.write("dbg_RotorPFM.png")
#self.StagingPFM.write("dbg_StagingPFM.png")
return task.again
self.cardmaker_debug()
return task.done
def deform_regular(self, task):
if (globalClock.get_real_time() - self.raise_start_time <
self.deform_duration):
(delta, xcenter, ycenter,
xradius, yradius, exponent, mode) = self.spot_params
self.DHF.pull_spot(delta * (1.0 if mode == "raise" else -1.0),
xcenter, ycenter, xradius, yradius, exponent)
return task.again
return task.done
def convert_coordinates(self):
vpos = self.vehicleNP.get_pos()
print("VPOS world: ", vpos)
W2H = self.terrain_node.world_to_heightfield(vpos)
print("W2H: ", W2H)
H2W = self.terrain_node.heightfield_to_world(LTexCoord(W2H.x, W2H.y))
print("H2W: ", H2W)
W2U = self.terrain_node.world_to_uv(vpos)
print("W2U: ", W2U)
U2W = self.terrain_node.uv_to_world(LTexCoord(W2U.x, W2U.y))
print("U2W: ", U2W)
def hide_terrain(self):
if self.terrain.is_hidden():
self.terrain.show()
else:
self.terrain.hide()
def save(self):
self.DHF.write("dbg_dynamicheightfield.png")
def pfmvizzer_debug(self, pfm):
vizzer = PfmVizzer(pfm)
"""
To align the mesh we generate with PfmVizzer with our
ShaderTerrainMesh, BulletHeightfieldShape, and DynamicHeightfield, we
need to set a negative scale on the Y axis. This reverses the winding
order of the triangles in the mesh, which is why we choose
PfmVizzer.MF_back
Note that this does not accurately match up with our mesh because the
interpolation differs. Still, PfmVizzer can be useful when
inspecting, distorting, etc. PfmFiles.
"""
self.vizNP = vizzer.generate_vis_mesh(PfmVizzer.MF_back)
self.vizNP.set_texture(loader.load_texture("maps/grid.rgb"))
self.vizNP.reparent_to(render)
if pfm == self.DHF or pfm == self.terrain_node.heightfield:
self.vizNP.set_pos(self.terrain_pos.x, -self.terrain_pos.y,
self.terrain_pos.z)
self.vizNP.set_scale(self.terrain_scale.x, -self.terrain_scale.y,
self.terrain_scale.z)
def cardmaker_debug(self):
for node in render2d.find_all_matches("pfm"):
node.remove_node()
for text in base.a2dBottomLeft.find_all_matches("*"):
text.remove_node()
width = 0.2 # render2d coordinates range: [-1..1]
# Pseudo-normalize our PfmFile for better contrast.
normalized_pfm = PfmFile(self.RotorPFM)
max_p = LVector3()
normalized_pfm.calc_min_max(LVector3(), max_p)
normalized_pfm *= 1.0 / max_p.x
# Put it in a texture
tex = Texture()
tex.load(normalized_pfm)
# Apply the texture to a quad and put it in the lower left corner.
cm = CardMaker("pfm")
cm.set_frame(0, width, 0,
width / normalized_pfm.get_x_size() * normalized_pfm.get_y_size())
card = base.render2d.attach_new_node(cm.generate())
card.set_pos(-1, 0, -1)
card.set_texture(tex)
# Display max value text
self.genLabelText(-3,
"Max value: {:.3f} == {:.2f}m".format(max_p.x,
max_p.x * self.terrain_scale.z),
parent="a2dBottomLeft")
class BaseVehicle(DynamicElement):
MODEL = None
"""
Vehicle chassis and its wheels index
0 1
II-----II
|
| <---chassis
|
II-----II
2 3
"""
PARAMETER_SPACE = PGSpace(
VehicleParameterSpace.BASE_VEHICLE
) # it will not sample config from parameter space
COLLISION_MASK = CollisionGroup.EgoVehicle
STEERING_INCREMENT = 0.05
LENGTH = None
WIDTH = None
def __init__(
self,
pg_world: PGWorld,
vehicle_config: Union[dict, PGConfig] = None,
physics_config: dict = None,
random_seed: int = 0,
name: str = None,
):
"""
This Vehicle Config is different from self.get_config(), and it is used to define which modules to use, and
module parameters. And self.physics_config defines the physics feature of vehicles, such as length/width
:param pg_world: PGWorld
:param vehicle_config: mostly, vehicle module config
:param physics_config: vehicle height/width/length, find more physics para in VehicleParameterSpace
:param random_seed: int
"""
self.vehicle_config = PGConfig(vehicle_config)
# self.vehicle_config = self.get_vehicle_config(vehicle_config) \
# if vehicle_config is not None else self._default_vehicle_config()
# observation, action
self.action_space = self.get_action_space_before_init(
extra_action_dim=self.vehicle_config["extra_action_dim"])
super(BaseVehicle, self).__init__(random_seed, name=name)
# config info
self.set_config(self.PARAMETER_SPACE.sample())
if physics_config is not None:
self.set_config(physics_config)
self.increment_steering = self.vehicle_config["increment_steering"]
self.enable_reverse = self.vehicle_config["enable_reverse"]
self.max_speed = self.vehicle_config["max_speed"]
self.max_steering = self.vehicle_config["max_steering"]
self.pg_world = pg_world
self.node_path = NodePath("vehicle")
# create
self.spawn_place = (0, 0)
self._add_chassis(pg_world.physics_world)
self.wheels = self._create_wheel()
# modules
self.image_sensors = {}
self.lidar: Optional[Lidar] = None
self.side_detector: Optional[SideDetector] = None
self.lane_line_detector: Optional[LaneLineDetector] = None
self.routing_localization: Optional[RoutingLocalizationModule] = None
self.lane: Optional[AbstractLane] = None
self.lane_index = None
self.vehicle_panel = VehiclePanel(self.pg_world) if (
self.pg_world.mode == RENDER_MODE_ONSCREEN) else None
# state info
self.throttle_brake = 0.0
self.steering = 0
self.last_current_action = deque([(0.0, 0.0), (0.0, 0.0)], maxlen=2)
self.last_position = self.spawn_place
self.last_heading_dir = self.heading
self.dist_to_left_side = None
self.dist_to_right_side = None
# collision info render
self.collision_info_np = self._init_collision_info_render(pg_world)
self.collision_banners = {} # to save time
self.current_banner = None
self.attach_to_pg_world(self.pg_world.pbr_render,
self.pg_world.physics_world)
# step info
self.out_of_route = None
self.on_lane = None
# self.step_info = None
self._init_step_info()
# others
self._add_modules_for_vehicle(self.vehicle_config["use_render"])
self.takeover = False
self._expert_takeover = False
self.energy_consumption = 0
# overtake_stat
self.front_vehicles = set()
self.back_vehicles = set()
def _add_modules_for_vehicle(self, use_render: bool):
# add self module for training according to config
vehicle_config = self.vehicle_config
self.add_routing_localization(
vehicle_config["show_navi_mark"]) # default added
if self.vehicle_config["side_detector"]["num_lasers"] > 0:
self.side_detector = SideDetector(
self.pg_world.render,
self.vehicle_config["side_detector"]["num_lasers"],
self.vehicle_config["side_detector"]["distance"],
self.vehicle_config["show_side_detector"])
if self.vehicle_config["lane_line_detector"]["num_lasers"] > 0:
self.lane_line_detector = LaneLineDetector(
self.pg_world.render,
self.vehicle_config["lane_line_detector"]["num_lasers"],
self.vehicle_config["lane_line_detector"]["distance"],
self.vehicle_config["show_lane_line_detector"])
if not self.vehicle_config["use_image"]:
if vehicle_config["lidar"]["num_lasers"] > 0 and vehicle_config[
"lidar"]["distance"] > 0:
self.add_lidar(
num_lasers=vehicle_config["lidar"]["num_lasers"],
distance=vehicle_config["lidar"]["distance"],
show_lidar_point=vehicle_config["show_lidar"])
else:
import logging
logging.warning(
"You have set the lidar config to: {}, which seems to be invalid!"
.format(vehicle_config["lidar"]))
if use_render:
rgb_cam_config = vehicle_config["rgb_cam"]
rgb_cam = RGBCamera(rgb_cam_config[0], rgb_cam_config[1],
self.chassis_np, self.pg_world)
self.add_image_sensor("rgb_cam", rgb_cam)
mini_map = MiniMap(vehicle_config["mini_map"], self.chassis_np,
self.pg_world)
self.add_image_sensor("mini_map", mini_map)
return
if vehicle_config["use_image"]:
# 3 types image observation
if vehicle_config["image_source"] == "rgb_cam":
rgb_cam_config = vehicle_config["rgb_cam"]
rgb_cam = RGBCamera(rgb_cam_config[0], rgb_cam_config[1],
self.chassis_np, self.pg_world)
self.add_image_sensor("rgb_cam", rgb_cam)
elif vehicle_config["image_source"] == "mini_map":
mini_map = MiniMap(vehicle_config["mini_map"], self.chassis_np,
self.pg_world)
self.add_image_sensor("mini_map", mini_map)
elif vehicle_config["image_source"] == "depth_cam":
cam_config = vehicle_config["depth_cam"]
depth_cam = DepthCamera(*cam_config, self.chassis_np,
self.pg_world)
self.add_image_sensor("depth_cam", depth_cam)
else:
raise ValueError("No module named {}".format(
vehicle_config["image_source"]))
# load more sensors for visualization when render, only for beauty...
if use_render:
if vehicle_config["image_source"] == "mini_map":
rgb_cam_config = vehicle_config["rgb_cam"]
rgb_cam = RGBCamera(rgb_cam_config[0], rgb_cam_config[1],
self.chassis_np, self.pg_world)
self.add_image_sensor("rgb_cam", rgb_cam)
else:
mini_map = MiniMap(vehicle_config["mini_map"], self.chassis_np,
self.pg_world)
self.add_image_sensor("mini_map", mini_map)
def _init_step_info(self):
# done info will be initialized every frame
self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).init_collision_info()
self.out_of_route = False # re-route is required if is false
self.on_lane = True # on lane surface or not
# self.step_info = {"reward": 0, "cost": 0}
def _preprocess_action(self, action):
if self.vehicle_config["action_check"]:
assert self.action_space.contains(
action
), "Input {} is not compatible with action space {}!".format(
action, self.action_space)
# protect agent from nan error
action = safe_clip_for_small_array(action,
min_val=self.action_space.low[0],
max_val=self.action_space.high[0])
return action, {'raw_action': (action[0], action[1])}
def prepare_step(self, action):
"""
Save info and make decision before action
"""
# init step info to store info before each step
self._init_step_info()
action, step_info = self._preprocess_action(action)
self.last_position = self.position
self.last_heading_dir = self.heading
self.last_current_action.append(
action
) # the real step of physics world is implemented in taskMgr.step()
if self.increment_steering:
self.set_incremental_action(action)
else:
self.set_act(action)
if self.vehicle_panel is not None:
self.vehicle_panel.renew_2d_car_para_visualization(self)
return step_info
def update_state(self, pg_world=None, detector_mask="WRONG"):
# lidar
if self.lidar is not None:
self.lidar.perceive(self.position,
self.heading_theta,
self.pg_world.physics_world.dynamic_world,
extra_filter_node={self.chassis_np.node()},
detector_mask=detector_mask)
if self.routing_localization is not None:
self.lane, self.lane_index, = self.routing_localization.update_navigation_localization(
self)
if self.side_detector is not None:
self.side_detector.perceive(
self.position, self.heading_theta,
self.pg_world.physics_world.static_world)
if self.lane_line_detector is not None:
self.lane_line_detector.perceive(
self.position, self.heading_theta,
self.pg_world.physics_world.static_world)
self._state_check()
self.update_dist_to_left_right()
step_energy, episode_energy = self._update_energy_consumption()
self.out_of_route = self._out_of_route()
step_info = self._update_overtake_stat()
step_info.update({
"velocity": float(self.speed),
"steering": float(self.steering),
"acceleration": float(self.throttle_brake),
"step_energy": step_energy,
"episode_energy": episode_energy
})
return step_info
def _out_of_route(self):
left, right = self._dist_to_route_left_right()
return True if right < 0 or left < 0 else False
def _update_energy_consumption(self):
"""
The calculation method is from
https://www.researchgate.net/publication/262182035_Reduction_of_Fuel_Consumption_and_Exhaust_Pollutant_Using_Intelligent_Transport_System
default: 3rd gear, try to use ae^bx to fit it, dp: (90, 8), (130, 12)
:return: None
"""
distance = norm(*(self.last_position - self.position)) / 1000 # km
step_energy = 3.25 * math.pow(np.e, 0.01 * self.speed) * distance / 100
# step_energy is in Liter, we return mL
step_energy = step_energy * 1000
self.energy_consumption += step_energy # L/100 km
return step_energy, self.energy_consumption
def reset(self, map: Map, pos: np.ndarray = None, heading: float = 0.0):
"""
pos is a 2-d array, and heading is a float (unit degree)
if pos is not None, vehicle will be reset to the position
else, vehicle will be reset to spawn place
"""
if pos is None:
lane = map.road_network.get_lane(
self.vehicle_config["spawn_lane_index"])
pos = lane.position(self.vehicle_config["spawn_longitude"],
self.vehicle_config["spawn_lateral"])
heading = np.rad2deg(
lane.heading_at(self.vehicle_config["spawn_longitude"]))
self.spawn_place = pos
heading = -np.deg2rad(heading) - np.pi / 2
self.set_static(False)
self.chassis_np.setPos(panda_position(Vec3(*pos, 1)))
self.chassis_np.setQuat(
LQuaternionf(math.cos(heading / 2), 0, 0, math.sin(heading / 2)))
self.update_map_info(map)
self.chassis_np.node().clearForces()
self.chassis_np.node().setLinearVelocity(Vec3(0, 0, 0))
self.chassis_np.node().setAngularVelocity(Vec3(0, 0, 0))
self.system.resetSuspension()
# np.testing.assert_almost_equal(self.position, pos, decimal=4)
# done info
self._init_step_info()
# other info
self.throttle_brake = 0.0
self.steering = 0
self.last_current_action = deque([(0.0, 0.0), (0.0, 0.0)], maxlen=2)
self.last_position = self.spawn_place
self.last_heading_dir = self.heading
self.update_dist_to_left_right()
self.takeover = False
self.energy_consumption = 0
# overtake_stat
self.front_vehicles = set()
self.back_vehicles = set()
# for render
if self.vehicle_panel is not None:
self.vehicle_panel.renew_2d_car_para_visualization(self)
if "depth_cam" in self.image_sensors and self.image_sensors[
"depth_cam"].view_ground:
for block in map.blocks:
block.node_path.hide(CamMask.DepthCam)
assert self.routing_localization
# Please note that if you respawn agent to some new place and might have a new destination,
# you should reset the routing localization too! Via: vehicle.routing_localization.set_route or
# vehicle.update
"""------------------------------------------- act -------------------------------------------------"""
def set_act(self, action):
steering = action[0]
self.throttle_brake = action[1]
self.steering = steering
self.system.setSteeringValue(self.steering * self.max_steering, 0)
self.system.setSteeringValue(self.steering * self.max_steering, 1)
self._apply_throttle_brake(action[1])
def set_incremental_action(self, action: np.ndarray):
self.throttle_brake = action[1]
self.steering += action[0] * self.STEERING_INCREMENT
self.steering = clip(self.steering, -1, 1)
steering = self.steering * self.max_steering
self.system.setSteeringValue(steering, 0)
self.system.setSteeringValue(steering, 1)
self._apply_throttle_brake(action[1])
def _apply_throttle_brake(self, throttle_brake):
max_engine_force = self.vehicle_config["max_engine_force"]
max_brake_force = self.vehicle_config["max_brake_force"]
for wheel_index in range(4):
if throttle_brake >= 0:
self.system.setBrake(2.0, wheel_index)
if self.speed > self.max_speed:
self.system.applyEngineForce(0.0, wheel_index)
else:
self.system.applyEngineForce(
max_engine_force * throttle_brake, wheel_index)
else:
if self.enable_reverse:
self.system.applyEngineForce(
max_engine_force * throttle_brake, wheel_index)
self.system.setBrake(0, wheel_index)
else:
self.system.applyEngineForce(0.0, wheel_index)
self.system.setBrake(
abs(throttle_brake) * max_brake_force, wheel_index)
"""---------------------------------------- vehicle info ----------------------------------------------"""
def update_dist_to_left_right(self):
self.dist_to_left_side, self.dist_to_right_side = self._dist_to_route_left_right(
)
def _dist_to_route_left_right(self):
current_reference_lane = self.routing_localization.current_ref_lanes[0]
_, lateral_to_reference = current_reference_lane.local_coordinates(
self.position)
lateral_to_left = lateral_to_reference + self.routing_localization.get_current_lane_width(
) / 2
lateral_to_right = self.routing_localization.get_current_lateral_range(
self.position, self.pg_world) - lateral_to_left
return lateral_to_left, lateral_to_right
@property
def position(self):
return pgdrive_position(self.chassis_np.getPos())
@property
def speed(self):
"""
km/h
"""
velocity = self.chassis_np.node().get_linear_velocity()
speed = norm(velocity[0], velocity[1]) * 3.6
return clip(speed, 0.0, 100000.0)
@property
def heading(self):
real_heading = self.heading_theta
# heading = np.array([math.cos(real_heading), math.sin(real_heading)])
heading = PGVector((math.cos(real_heading), math.sin(real_heading)))
return heading
@property
def heading_theta(self):
"""
Get the heading theta of vehicle, unit [rad]
:return: heading in rad
"""
return (pgdrive_heading(self.chassis_np.getH()) - 90) / 180 * math.pi
@property
def velocity(self) -> np.ndarray:
return self.speed * self.velocity_direction
@property
def velocity_direction(self):
direction = self.system.getForwardVector()
return np.asarray([direction[0], -direction[1]])
@property
def current_road(self):
return Road(*self.lane_index[0:-1])
"""---------------------------------------- some math tool ----------------------------------------------"""
def heading_diff(self, target_lane):
lateral = None
if isinstance(target_lane, StraightLane):
lateral = np.asarray(
get_vertical_vector(target_lane.end - target_lane.start)[1])
elif isinstance(target_lane, CircularLane):
if target_lane.direction == -1:
lateral = self.position - target_lane.center
else:
lateral = target_lane.center - self.position
else:
raise ValueError("Unknown target lane type: {}".format(
type(target_lane)))
lateral_norm = norm(lateral[0], lateral[1])
forward_direction = self.heading
# print(f"Old forward direction: {self.forward_direction}, new heading {self.heading}")
forward_direction_norm = norm(forward_direction[0],
forward_direction[1])
if not lateral_norm * forward_direction_norm:
return 0
cos = ((forward_direction[0] * lateral[0] +
forward_direction[1] * lateral[1]) /
(lateral_norm * forward_direction_norm))
# return cos
# Normalize to 0, 1
return clip(cos, -1.0, 1.0) / 2 + 0.5
def projection(self, vector):
# Projected to the heading of vehicle
# forward_vector = self.vehicle.get_forward_vector()
# forward_old = (forward_vector[0], -forward_vector[1])
forward = self.heading
# print(f"[projection] Old forward {forward_old}, new heading {forward}")
norm_velocity = norm(forward[0], forward[1]) + 1e-6
project_on_heading = (vector[0] * forward[0] +
vector[1] * forward[1]) / norm_velocity
side_direction = get_vertical_vector(forward)[1]
side_norm = norm(side_direction[0], side_direction[1]) + 1e-6
project_on_side = (vector[0] * side_direction[0] +
vector[1] * side_direction[1]) / side_norm
return project_on_heading, project_on_side
def lane_distance_to(self, vehicle, lane: AbstractLane = None) -> float:
assert self.routing_localization is not None, "a routing and localization module should be added " \
"to interact with other vehicles"
if not vehicle:
return np.nan
if not lane:
lane = self.lane
return lane.local_coordinates(
vehicle.position)[0] - lane.local_coordinates(self.position)[0]
"""-------------------------------------- for vehicle making ------------------------------------------"""
def _add_chassis(self, pg_physics_world: PGPhysicsWorld):
para = self.get_config()
self.LENGTH = self.vehicle_config["vehicle_length"]
self.WIDTH = self.vehicle_config["vehicle_width"]
chassis = BaseVehicleNode(BodyName.Base_vehicle, self)
chassis.setIntoCollideMask(BitMask32.bit(CollisionGroup.EgoVehicle))
chassis_shape = BulletBoxShape(
Vec3(self.WIDTH / 2, self.LENGTH / 2,
para[Parameter.vehicle_height] / 2))
ts = TransformState.makePos(
Vec3(0, 0, para[Parameter.chassis_height] * 2))
chassis.addShape(chassis_shape, ts)
heading = np.deg2rad(-para[Parameter.heading] - 90)
chassis.setMass(para[Parameter.mass])
self.chassis_np = self.node_path.attachNewNode(chassis)
# not random spawn now
self.chassis_np.setPos(Vec3(*self.spawn_place, 1))
self.chassis_np.setQuat(
LQuaternionf(math.cos(heading / 2), 0, 0, math.sin(heading / 2)))
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(
True
) # advance collision check, do callback in pg_collision_callback
self.dynamic_nodes.append(chassis)
chassis_beneath = BulletGhostNode(BodyName.Base_vehicle_beneath)
chassis_beneath.setIntoCollideMask(
BitMask32.bit(CollisionGroup.EgoVehicleBeneath))
chassis_beneath.addShape(chassis_shape)
self.chassis_beneath_np = self.chassis_np.attachNewNode(
chassis_beneath)
self.dynamic_nodes.append(chassis_beneath)
self.system = BulletVehicle(pg_physics_world.dynamic_world, chassis)
self.system.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(
self.system
) # detach chassis will also detach system, so a waring will generate
if self.render:
if self.MODEL is None:
model_path = 'models/ferra/scene.gltf'
self.MODEL = self.loader.loadModel(
AssetLoader.file_path(model_path))
self.MODEL.setZ(para[Parameter.vehicle_vis_z])
self.MODEL.setY(para[Parameter.vehicle_vis_y])
self.MODEL.setH(para[Parameter.vehicle_vis_h])
self.MODEL.set_scale(para[Parameter.vehicle_vis_scale])
self.MODEL.instanceTo(self.chassis_np)
def _create_wheel(self):
para = self.get_config()
f_l = para[Parameter.front_tire_longitude]
r_l = -para[Parameter.rear_tire_longitude]
lateral = para[Parameter.tire_lateral]
axis_height = para[Parameter.tire_radius] + 0.05
radius = para[Parameter.tire_radius]
wheels = []
for k, pos in enumerate([
Vec3(lateral, f_l, axis_height),
Vec3(-lateral, f_l, axis_height),
Vec3(lateral, r_l, axis_height),
Vec3(-lateral, r_l, axis_height)
]):
wheel = self._add_wheel(pos, radius, True if k < 2 else False,
True if k == 0 or k == 2 else False)
wheels.append(wheel)
return wheels
def _add_wheel(self, pos: Vec3, radius: float, front: bool, left):
wheel_np = self.node_path.attachNewNode("wheel")
if self.render:
# TODO something wrong with the wheel render
model_path = 'models/yugo/yugotireR.egg' if left else 'models/yugo/yugotireL.egg'
wheel_model = self.loader.loadModel(
AssetLoader.file_path(model_path))
wheel_model.reparentTo(wheel_np)
wheel_model.set_scale(1.4, radius / 0.25, radius / 0.25)
wheel = self.system.create_wheel()
wheel.setNode(wheel_np.node())
wheel.setChassisConnectionPointCs(pos)
wheel.setFrontWheel(front)
wheel.setWheelDirectionCs(Vec3(0, 0, -1))
wheel.setWheelAxleCs(Vec3(1, 0, 0))
# TODO add them to PGConfig in the future
wheel.setWheelRadius(radius)
wheel.setMaxSuspensionTravelCm(40)
wheel.setSuspensionStiffness(30)
wheel.setWheelsDampingRelaxation(4.8)
wheel.setWheelsDampingCompression(1.2)
wheel.setFrictionSlip(self.vehicle_config["wheel_friction"])
wheel.setRollInfluence(1.5)
return wheel
def add_image_sensor(self, name: str, sensor: ImageBuffer):
self.image_sensors[name] = sensor
def add_lidar(self, num_lasers=240, distance=50, show_lidar_point=False):
assert num_lasers > 0
assert distance > 0
self.lidar = Lidar(self.pg_world.render, num_lasers, distance,
show_lidar_point)
def add_routing_localization(self, show_navi_mark: bool = False):
config = self.vehicle_config
self.routing_localization = RoutingLocalizationModule(
self.pg_world,
show_navi_mark=show_navi_mark,
random_navi_mark_color=config["random_navi_mark_color"],
show_dest_mark=config["show_dest_mark"],
show_line_to_dest=config["show_line_to_dest"])
def update_map_info(self, map):
"""
Update map info after reset()
:param map: new map
:return: None
"""
lane, new_l_index = ray_localization(np.array(self.heading.tolist()),
np.array(self.spawn_place),
self.pg_world)
self.routing_localization.update(map, current_lane_index=new_l_index)
assert lane is not None, "spawn place is not on road!"
self.lane_index = new_l_index
self.lane = lane
def _state_check(self):
"""
Check States and filter to update info
"""
result_1 = self.pg_world.physics_world.static_world.contactTest(
self.chassis_beneath_np.node(), True)
result_2 = self.pg_world.physics_world.dynamic_world.contactTest(
self.chassis_beneath_np.node(), True)
contacts = set()
for contact in result_1.getContacts() + result_2.getContacts():
node0 = contact.getNode0()
node1 = contact.getNode1()
name = [node0.getName(), node1.getName()]
name.remove(BodyName.Base_vehicle_beneath)
if name[0] == "Ground" or name[0] == BodyName.Lane:
continue
if name[0] == BodyName.Sidewalk:
self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).crash_sidewalk = True
elif name[0] == BodyName.White_continuous_line:
self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).on_white_continuous_line = True
elif name[0] == BodyName.Yellow_continuous_line:
self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).on_yellow_continuous_line = True
elif name[0] == BodyName.Broken_line:
self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).on_broken_line = True
contacts.add(name[0])
if self.render:
self.render_collision_info(contacts)
@staticmethod
def _init_collision_info_render(pg_world):
if pg_world.mode == "onscreen":
info_np = NodePath("Collision info nodepath")
info_np.reparentTo(pg_world.aspect2d)
else:
info_np = None
return info_np
def render_collision_info(self, contacts):
contacts = sorted(list(contacts),
key=lambda c: COLLISION_INFO_COLOR[COLOR[c]][0])
text = contacts[0] if len(contacts) != 0 else None
if text is None:
text = "Normal" if time.time(
) - self.pg_world._episode_start_time > 10 else "Press H to see help message"
self.render_banner(text, COLLISION_INFO_COLOR["green"][1])
else:
if text == BodyName.Base_vehicle_beneath:
text = BodyName.Traffic_vehicle
self.render_banner(text, COLLISION_INFO_COLOR[COLOR[text]][1])
def render_banner(self, text, color=COLLISION_INFO_COLOR["green"][1]):
"""
Render the banner in the left bottom corner.
"""
if self.collision_info_np is None:
return
if self.current_banner is not None:
self.current_banner.detachNode()
if text in self.collision_banners:
self.collision_banners[text].reparentTo(self.collision_info_np)
self.current_banner = self.collision_banners[text]
else:
new_banner = NodePath(TextNode("collision_info:{}".format(text)))
self.collision_banners[text] = new_banner
text_node = new_banner.node()
text_node.setCardColor(color)
text_node.setText(text)
text_node.setCardActual(-5 * self.pg_world.w_scale,
5.1 * self.pg_world.w_scale, -0.3, 1)
text_node.setCardDecal(True)
text_node.setTextColor(1, 1, 1, 1)
text_node.setAlign(TextNode.A_center)
new_banner.setScale(0.05)
new_banner.setPos(-0.75 * self.pg_world.w_scale, 0,
-0.8 * self.pg_world.h_scale)
new_banner.reparentTo(self.collision_info_np)
self.current_banner = new_banner
def destroy(self, _=None):
self.chassis_np.node().getPythonTag(BodyName.Base_vehicle).destroy()
if self.chassis_np.node() in self.dynamic_nodes:
self.dynamic_nodes.remove(self.chassis_np.node())
super(BaseVehicle, self).destroy(self.pg_world)
self.pg_world.physics_world.dynamic_world.clearContactAddedCallback()
self.routing_localization.destroy()
self.routing_localization = None
if self.side_detector is not None:
self.side_detector.destroy()
if self.lane_line_detector is not None:
self.lane_line_detector.destroy()
self.side_detector = None
self.lane_line_detector = None
if self.lidar is not None:
self.lidar.destroy()
self.lidar = None
if len(self.image_sensors) != 0:
for sensor in self.image_sensors.values():
sensor.destroy(self.pg_world)
self.image_sensors = None
if self.vehicle_panel is not None:
self.vehicle_panel.destroy(self.pg_world)
self.pg_world = None
def set_position(self, position, height=0.4):
"""
Should only be called when restore traffic from episode data
:param position: 2d array or list
:return: None
"""
self.chassis_np.setPos(panda_position(position, height))
def set_heading(self, heading_theta) -> None:
"""
Should only be called when restore traffic from episode data
:param heading_theta: float in rad
:return: None
"""
self.chassis_np.setH((panda_heading(heading_theta) * 180 / np.pi) - 90)
def get_state(self):
return {
"heading":
self.heading_theta,
"position":
self.position.tolist(),
"done":
self.crash_vehicle or self.out_of_route or self.crash_sidewalk
or not self.on_lane
}
def set_state(self, state: dict):
self.set_heading(state["heading"])
self.set_position(state["position"])
def _update_overtake_stat(self):
if self.vehicle_config["overtake_stat"]:
surrounding_vs = self.lidar.get_surrounding_vehicles()
routing = self.routing_localization
ckpt_idx = routing._target_checkpoints_index
for surrounding_v in surrounding_vs:
if surrounding_v.lane_index[:-1] == (
routing.checkpoints[ckpt_idx[0]],
routing.checkpoints[ckpt_idx[1]]):
if self.lane.local_coordinates(self.position)[0] - \
self.lane.local_coordinates(surrounding_v.position)[0] < 0:
self.front_vehicles.add(surrounding_v)
if surrounding_v in self.back_vehicles:
self.back_vehicles.remove(surrounding_v)
else:
self.back_vehicles.add(surrounding_v)
return {"overtake_vehicle_num": self.get_overtake_num()}
def get_overtake_num(self):
return len(self.front_vehicles.intersection(self.back_vehicles))
@classmethod
def get_action_space_before_init(cls, extra_action_dim: int = 0):
return gym.spaces.Box(-1.0,
1.0,
shape=(2 + extra_action_dim, ),
dtype=np.float32)
def remove_display_region(self):
if self.render:
self.vehicle_panel.remove_display_region(self.pg_world)
self.vehicle_panel.buffer.set_active(False)
self.collision_info_np.detachNode()
self.routing_localization._arrow_node_path.detachNode()
for sensor in self.image_sensors.values():
sensor.remove_display_region(self.pg_world)
sensor.buffer.set_active(False)
def add_to_display(self):
if self.render:
self.vehicle_panel.add_to_display(
self.pg_world, self.vehicle_panel.default_region)
self.vehicle_panel.buffer.set_active(True)
self.collision_info_np.reparentTo(self.pg_world.aspect2d)
self.routing_localization._arrow_node_path.reparentTo(
self.pg_world.aspect2d)
for sensor in self.image_sensors.values():
sensor.add_to_display(self.pg_world, sensor.default_region)
sensor.buffer.set_active(True)
def __del__(self):
super(BaseVehicle, self).__del__()
self.pg_world = None
self.lidar = None
self.mini_map = None
self.rgb_cam = None
self.routing_localization = None
self.wheels = None
@property
def arrive_destination(self):
long, lat = self.routing_localization.final_lane.local_coordinates(
self.position)
flag = (self.routing_localization.final_lane.length - 5 < long <
self.routing_localization.final_lane.length + 5) and (
self.routing_localization.get_current_lane_width() / 2 >=
lat >=
(0.5 - self.routing_localization.get_current_lane_num()) *
self.routing_localization.get_current_lane_width())
return flag
@property
def crash_vehicle(self):
return self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).crash_vehicle
@property
def crash_object(self):
return self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).crash_object
@property
def crash_sidewalk(self):
return self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).crash_sidewalk
@property
def on_yellow_continuous_line(self):
return self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).on_yellow_continuous_line
@property
def on_white_continuous_line(self):
return self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).on_white_continuous_line
@property
def on_broken_line(self):
return self.chassis_np.node().getPythonTag(
BodyName.Base_vehicle).on_broken_line
def set_static(self, flag):
self.chassis_np.node().setStatic(flag)
@property
def reference_lanes(self):
return self.routing_localization.current_ref_lanes
def set_wheel_friction(self, new_friction):
raise DeprecationWarning("Bug exists here")
for wheel in self.wheels:
wheel.setFrictionSlip(new_friction)
class CarPhys(PhysColleague):
def __init__(self, mediator, car_props, tuning, players):
PhysColleague.__init__(self, mediator)
self.pnode = self.vehicle = self.__track_phys = self.coll_mesh = \
self.max_speed = self.friction_slip = \
self.friction_slip_rear = self.cfg = None
self.turbo = False
self._tuning = tuning
self._players = players
self.roll_influence = []
self.ai_meshes = []
self.curr_speed_mul = 1.0
self.roll_influence_k = self.friction_slip_k = 1.0
self.__prev_speed = 0
self.__last_drift_time = 0
self.__finds = {} # cache for find's results
self.__whl2flytime = {}
self.cprops = car_props
self._load_phys()
self.__set_collision_mesh()
self.__set_ai_meshes()
self.__set_phys_node()
self.__set_vehicle()
self.__set_wheels()
self.eng.attach_obs(self.on_end_frame)
def _load_phys(self):
ppath = self.cprops.race_props.season_props.gameprops.phys_path
fpath = ppath % self.cprops.name
with open(fpath) as phys_file:
self.cfg = load(phys_file)
# they may be changed by drivers and tuning
self.cfg['max_speed'] = self.get_speed()
self.cfg['friction_slip'] = self.get_friction_static()[0]
self.cfg['friction_slip_rear'] = self.get_friction_static()[1]
self.cfg['roll_influence'] = self.get_roll_influence_static()
self.friction_slip = self.cfg['friction_slip']
self.friction_slip_rear = self.cfg['friction_slip_rear']
self.__log_props()
set_a = lambda field: setattr(self, field, self.cfg[field])
list(map(set_a, self.cfg.keys()))
def __log_props(self, starting=True):
s_s = self.cfg['max_speed'] if starting else self.max_speed
s_f = self.cfg['friction_slip'] if starting else \
self.get_friction_static()[0]
s_fr = self.cfg['friction_slip_rear'] if starting else \
self.get_friction_static()[1]
s_r = self.cfg['roll_influence'] if starting else \
self.get_roll_influence_static()
log_info = [('speed', self.cprops.name, round(s_s, 2),
self.cprops.driver_engine),
('friction 0', self.cprops.name, round(s_f[0], 2),
self.cprops.driver_tires),
('friction 1', self.cprops.name, round(s_f[1], 2),
self.cprops.driver_tires),
('friction_rear 0', self.cprops.name, round(s_fr[0], 2),
self.cprops.driver_tires),
('friction_rear 1', self.cprops.name, round(s_fr[1], 2),
self.cprops.driver_tires),
('roll min', self.cprops.name, round(s_r[0], 2),
self.cprops.driver_suspensions),
('roll max', self.cprops.name, round(s_r[1], 2),
self.cprops.driver_suspensions)]
for l_i in log_info:
info('%s %s: %s (%s)' % l_i)
def __set_collision_mesh(self):
fpath = self.cprops.race_props.coll_path % self.cprops.name
try:
self.coll_mesh = self.eng.load_model(fpath)
except OSError: # new cars don't have collision meshes
self.coll_mesh = self.eng.load_model(
fpath.replace('capsule', 'car'))
# chassis_shape = BulletConvexHullShape()
# for geom in self.eng.lib.find_geoms(
# self.coll_mesh, self.cprops.race_props.coll_name):
# chassis_shape.add_geom(geom.node().get_geom(0),
# geom.get_transform())
# self.mediator.gfx.nodepath.get_node().add_shape(chassis_shape)
chassis_shape = BulletBoxShape(tuple(self.cfg['box_size']))
boxpos = self.cfg['box_pos']
boxpos[2] += self.cfg['center_mass_offset']
pos = TransformState.makePos(tuple(boxpos))
self.mediator.gfx.nodepath.p3dnode.add_shape(chassis_shape, pos)
car_names = [player.car for player in self._players]
car_idx = car_names.index(self.cprops.name)
car_bit = BitMask32.bit(BitMasks.car(car_idx))
ghost_bit = BitMask32.bit(BitMasks.ghost)
track_bit = BitMask32.bit(BitMasks.track_merged)
mask = car_bit | ghost_bit | track_bit
self.mediator.gfx.nodepath.set_collide_mask(mask)
def __set_ai_meshes(self):
return
# if we attach these meshes (or even only one mesh, box, sphere,
# whatever) then the collision between the goal and the vehicle doesn't
# work properly
h = .5
boxsz = self.cfg['box_size']
hs = []
hs += [
h / 2 + boxsz[2] * 2 + self.cfg['box_pos'][2] +
self.cfg['center_mass_offset']
]
hs += [
-h / 2 - boxsz[2] * 2 + self.cfg['box_pos'][2] +
self.cfg['center_mass_offset']
]
for _h in hs:
shape = BulletBoxShape((boxsz[0], boxsz[1], h))
ghost = GhostNode('Vehicle')
pos = TransformState.makePos((0, 0, _h))
ghost.node.addShape(shape, pos)
self.ai_meshes += [self.eng.attach_node(ghost.node)]
car_names = self.cprops.race_props.season_props.car_names
car_idx = car_names.index(self.cprops.name)
car_bit = BitMask32.bit(BitMasks.car(car_idx))
ghost_bit = BitMask32.bit(BitMasks.ghost)
mask = car_bit | ghost_bit
self.ai_meshes[-1].set_collide_mask(mask)
self.eng.phys_mgr.attach_ghost(ghost.node)
def __set_phys_node(self):
self.pnode = self.mediator.gfx.nodepath.p3dnode
self.pnode.set_mass(self.mass) # default 0
self.pnode.set_deactivation_enabled(False)
self.eng.phys_mgr.attach_rigid_body(self.pnode)
self.eng.phys_mgr.add_collision_obj(self.pnode)
def __set_vehicle(self):
self.vehicle = BulletVehicle(self.eng.phys_mgr.root._wld, self.pnode)
# access to a protected member
self.vehicle.set_coordinate_system(ZUp)
self.vehicle.set_pitch_control(self.pitch_control)
tuning = self.vehicle.get_tuning()
tuning.set_suspension_compression(self.suspension_compression)
# default .83
tuning.set_suspension_damping(self.suspension_damping)
# default .88
self.eng.phys_mgr.attach_vehicle(self.vehicle)
def __set_wheels(self):
wheels = self.mediator.gfx.wheels
f_bounds = wheels['fr'].tight_bounds
f_radius = (f_bounds[1][2] - f_bounds[0][2]) / 2.0 + .01
r_bounds = wheels['rr'].tight_bounds
r_radius = (r_bounds[1][2] - r_bounds[0][2]) / 2.0 + .01
wheel_names = self.cprops.race_props.wheel_names
ffr = self.coll_mesh.find('**/' + wheel_names.frontrear.fr)
ffl = self.coll_mesh.find('**/' + wheel_names.frontrear.fl)
rrr = self.coll_mesh.find('**/' + wheel_names.frontrear.rr)
rrl = self.coll_mesh.find('**/' + wheel_names.frontrear.rl)
meth = self.coll_mesh.find
fr_node = ffr if ffr else meth('**/' + wheel_names.both.fr)
fl_node = ffl if ffl else meth('**/' + wheel_names.both.fl)
rr_node = rrr if rrr else meth('**/' + wheel_names.both.rr)
rl_node = rrl if rrl else meth('**/' + wheel_names.both.rl)
if not fr_node: # new cars
fr_node = meth('**/w_fr')
fl_node = meth('**/w_fl')
rr_node = meth('**/w_rr')
rl_node = meth('**/w_rl')
offset = self.cfg['center_mass_offset']
fr_pos = fr_node.get_pos() + (0, 0, f_radius + offset)
fl_pos = fl_node.get_pos() + (0, 0, f_radius + offset)
rr_pos = rr_node.get_pos() + (0, 0, r_radius + offset)
rl_pos = rl_node.get_pos() + (0, 0, r_radius + offset)
wheels_info = [(fr_pos, True, wheels['fr'], f_radius),
(fl_pos, True, wheels['fl'], f_radius),
(rr_pos, False, wheels['rr'], r_radius),
(rl_pos, False, wheels['rl'], r_radius)]
for i, (pos, front, nodepath, radius) in enumerate(wheels_info):
self.__add_wheel(pos, front, nodepath.p3dnode, radius, i)
def __add_wheel(self, pos, is_front, node, radius, i):
whl = self.vehicle.create_wheel()
whl.set_node(node)
whl.set_chassis_connection_point_cs(LPoint3f(*pos))
whl.set_front_wheel(is_front)
whl.set_wheel_direction_cs((0, 0, -1))
whl.set_wheel_axle_cs((1, 0, 0))
whl.set_wheel_radius(radius)
whl.set_suspension_stiffness(self.suspension_stiffness[0])
# default 5.88
whl.set_wheels_damping_relaxation(self.wheels_damping_relaxation[0])
# default .88
whl.set_wheels_damping_compression(self.wheels_damping_compression[0])
# default .83
idx = 0 if is_front else 1
whl.set_friction_slip(self.get_friction_static()[idx][0])
# default 10.5
# friction slip high -> more adherence
whl.set_roll_influence(self.roll_influence[0])
# low -> more stability # default .1
whl.set_max_suspension_force(self.max_suspension_force)
# default 6000
whl.set_max_suspension_travel_cm(self.max_suspension_travel_cm)
# default 500
whl.set_skid_info(self.skid_info) # default 0
self.__whl2flytime[i] = 0
@property
def lateral_force(self):
vel = self.vehicle.get_chassis().get_linear_velocity()
rot_mat = Mat4()
rot_mat.setRotateMat(-90, (0, 0, 1))
car_lat = rot_mat.xformVec(self.mediator.logic.car_vec._vec)
# access to a protected member
proj_frc = vel.project(car_lat)
return proj_frc.length()
@property
def lin_vel(self):
return self.vehicle.get_chassis().get_linear_velocity().length() * 3.6
@property
def is_flying(self): # no need to be cached
rays = [whl.get_raycast_info() for whl in self.vehicle.get_wheels()]
return not any(ray.is_in_contact() for ray in rays)
@property
def is_drifting(self):
return self.lateral_force > 4.0
@property
def last_drift_time(self):
return self.__last_drift_time
@property
def prev_speed(self):
return self.__prev_speed
@property
def prev_speed_ratio(self):
return max(0, min(1.0, self.prev_speed / self.max_speed))
def on_end_frame(self):
self.__prev_speed = self.speed
@property
def speed(self):
if self.mediator.fsm.getCurrentOrNextState() == 'Countdown':
return 0 # getCurrentSpeedKmHour returns odd values otherwise
return self.vehicle.get_current_speed_km_hour()
@property
def speed_ratio(self):
return max(0, min(1.0, self.speed / self.max_speed))
@property
def lin_vel_ratio(self):
return max(0, min(1.0, self.lin_vel / self.max_speed))
def set_forces(self, eng_frc, brake_frc, brk_ratio, steering):
idx = 1 if self.mediator.logic.is_drifting else 0
eng_frc_ratio = self.engine_acc_frc_ratio[idx]
self.vehicle.set_steering_value(steering, 0)
self.vehicle.set_steering_value(steering, 1)
self.vehicle.apply_engine_force(eng_frc * eng_frc_ratio, 0)
self.vehicle.apply_engine_force(eng_frc * eng_frc_ratio, 1)
self.vehicle.apply_engine_force(eng_frc * (1 - eng_frc_ratio), 2)
self.vehicle.apply_engine_force(eng_frc * (1 - eng_frc_ratio), 3)
self.vehicle.set_brake((1 - brk_ratio) * brake_frc, 2)
self.vehicle.set_brake((1 - brk_ratio) * brake_frc, 3)
self.vehicle.set_brake(brk_ratio * brake_frc, 0)
self.vehicle.set_brake(brk_ratio * brake_frc, 1)
def update_car_props(self):
wheels = zip(self.vehicle.get_wheels(), range(4))
speeds = list(map(lambda whi: self.__update_whl_props(*whi), wheels))
speeds = [speed for speed in speeds if speed]
if self.is_drifting:
self.__last_drift_time = self.eng.curr_time
self.curr_speed_mul = (sum(speeds) / len(speeds)) if speeds else 1.0
def __update_whl_props(self, whl, i):
susp_min = self.suspension_stiffness[0]
susp_max = self.suspension_stiffness[1]
susp_diff = susp_max - susp_min
whl.set_suspension_stiffness(susp_min + self.speed_ratio * susp_diff)
relax_min = self.wheels_damping_relaxation[0]
relax_max = self.wheels_damping_relaxation[1]
relax_diff = relax_max - relax_min
relax = relax_min + self.speed_ratio * relax_diff
whl.set_wheels_damping_relaxation(relax)
compr_min = self.wheels_damping_compression[0]
compr_max = self.wheels_damping_compression[1]
compr_diff = compr_max - compr_min
compr = compr_min + self.speed_ratio * compr_diff
whl.set_wheels_damping_compression(compr)
roll_infl_min = self.roll_influence[0]
roll_infl_max = self.roll_influence[1]
roll_infl_diff = roll_infl_max - roll_infl_min
roll_infl = roll_infl_min + self.speed_ratio * roll_infl_diff
whl.set_roll_influence(self.roll_influence_k * roll_infl)
contact_pt = whl.get_raycast_info().getContactPointWs()
gnd_name = self.gnd_name(contact_pt)
if not gnd_name or gnd_name in ['Vehicle', 'Wall', 'Respawn']:
return
if gnd_name not in self.__finds:
gnd = self.cprops.race.track.phys.model.find('**/' + gnd_name)
self.__finds[gnd_name] = gnd
gfx_node = self.__finds[gnd_name]
if not gfx_node:
print('ground error', gnd_name)
return
fric = 1.0
if gfx_node.has_tag('friction'):
fric = float(gfx_node.get_tag('friction'))
if not whl.get_raycast_info().is_in_contact():
self.__whl2flytime[i] = self.eng.curr_time
gnd_time = self.eng.curr_time - self.__whl2flytime[i]
gnd_recovery_time = .2 if whl.is_front_wheel() else .1
gnd_factor = min(1, gnd_time / gnd_recovery_time)
idx = 0 if whl.is_front_wheel() else 1
turbo_factor = 1.24 if self.turbo else 1.0
whl.setFrictionSlip(self.get_friction()[idx] * fric * gnd_factor *
turbo_factor)
if gfx_node.has_tag('speed'):
return float(gfx_node.get_tag('speed'))
@property
def gnd_names(self): # no need to be cached
whls = self.vehicle.get_wheels()
pos = list(
map(lambda whl: whl.get_raycast_info().get_contact_point_ws(),
whls))
return list(map(self.gnd_name, pos))
@staticmethod
def gnd_name(pos):
top, bottom = pos + (0, 0, 20), pos + (0, 0, -20)
result = CarPhys.eng.phys_mgr.ray_test_closest(bottom, top)
ground = result.get_node()
return ground.get_name() if ground else ''
@staticmethod
def gnd_height(pos): # this should be a method of the track
top, bottom = pos + (0, 0, 20), pos + (0, 0, -20)
result = CarPhys.eng.phys_mgr.ray_test_closest(bottom, top)
hit_pos = result.get_hit_pos()
return hit_pos.z if hit_pos else None
def apply_damage(self, reset=False):
# wheels = self.vehicle.get_wheels()
if reset:
self.max_speed = self.get_speed()
self.friction_slip_k = 1.0
self.roll_influence_k = 1.0
else:
self.max_speed *= .95
self.friction_slip_k *= .95
self.roll_influence_k *= 1.05
# map(lambda whl: whl.set_friction_slip(self.friction_slip), wheels)
self.__log_props(False)
def get_speed(self):
return self.cfg['max_speed'] * (1 + .01 * self.cprops.driver_engine)
def get_friction(self):
k = (1 + .01 * self.cprops.driver_tires)
return self.friction_slip[0] * k, self.friction_slip_rear[0] * k
def get_roll_influence_static(self):
min_r = self.cfg['roll_influence'][0]
max_r = self.cfg['roll_influence'][1]
k = 1 + .01 * self.cprops.driver_suspensions
return [min_r * k, max_r * k]
def get_friction_static(self):
k = 1 + .01 * self.cprops.driver_tires
fstr = 'friction_slip'
return [(self.cfg[fstr][0] * k, self.cfg[fstr][1] * k),
(self.cfg[fstr + '_rear'][0] * k,
self.cfg[fstr + '_rear'][1] * k)]
def get_roll_influence(self):
min_r = self.cfg['roll_influence'][0]
max_r = self.cfg['roll_influence'][1]
diff_r = max_r - min_r
curr_r = min_r + self.speed_ratio * diff_r
return curr_r * (1 + .01 * self.cprops.driver_suspensions)
def rotate(self):
self.pnode.apply_torque((0, 0, 80000))
self.mediator.logic.applied_torque = True
def destroy(self):
self.eng.detach_obs(self.on_end_frame)
self.eng.phys_mgr.remove_vehicle(self.vehicle)
self.pnode = self.vehicle = self.__finds = self.__track_phys = \
self.coll_mesh = None
PhysColleague.destroy(self)
class BaseVehicle(DynamicElement):
Ego_state_obs_dim = 9
"""
Vehicle chassis and its wheels index
0 1
II-----II
|
| <---chassis
|
II-----II
2 3
"""
PARAMETER_SPACE = PGSpace(
VehicleParameterSpace.BASE_VEHICLE
) # it will not sample config from parameter space
COLLISION_MASK = CollisionGroup.EgoVehicle
STEERING_INCREMENT = 0.05
default_vehicle_config = PGConfig(
dict(
lidar=(240, 50, 4), # laser num, distance, other vehicle info num
mini_map=(84, 84, 250), # buffer length, width
rgb_cam=(160, 120), # buffer length, width
depth_cam=(84, 84, True), # buffer length, width, view_ground
show_navi_mark=False,
increment_steering=False,
wheel_friction=0.6,
))
born_place = (5, 0)
LENGTH = None
WIDTH = None
def __init__(self,
pg_world: PGWorld,
vehicle_config: dict = None,
random_seed: int = 0,
config: dict = None):
"""
This Vehicle Config is different from self.get_config(), and it is used to define which modules to use, and
module parameters.
"""
super(BaseVehicle, self).__init__(random_seed)
self.pg_world = pg_world
self.node_path = NodePath("vehicle")
# config info
self.set_config(self.PARAMETER_SPACE.sample())
if config is not None:
self.set_config(config)
self.vehicle_config = self.get_vehicle_config(
vehicle_config
) if vehicle_config is not None else self.default_vehicle_config
self.increment_steering = self.vehicle_config["increment_steering"]
self.max_speed = self.get_config()[Parameter.speed_max]
self.max_steering = self.get_config()[Parameter.steering_max]
# create
self._add_chassis(pg_world.physics_world)
self.wheels = self._create_wheel()
# modules
self.image_sensors = {}
self.lidar = None
self.routing_localization = None
self.lane = None
self.lane_index = None
self.vehicle_panel = VehiclePanel(self.pg_world) if (
self.pg_world.mode == RENDER_MODE_ONSCREEN) else None
# other info
self.throttle_brake = 0.0
self.steering = 0
self.last_current_action = deque([(0.0, 0.0), (0.0, 0.0)], maxlen=2)
self.last_position = self.born_place
self.last_heading_dir = self.heading
# collision info render
self.collision_info_np = self._init_collision_info_render(pg_world)
self.collision_banners = {} # to save time
self.current_banner = None
# done info
self.crash = False
self.out_of_road = False
self.attach_to_pg_world(self.pg_world.pbr_render,
self.pg_world.physics_world)
@classmethod
def get_vehicle_config(cls, new_config):
default = copy.deepcopy(cls.default_vehicle_config)
default.update(new_config)
return default
def prepare_step(self, action):
"""
Save info and make decision before action
"""
self.last_position = self.position
self.last_heading_dir = self.heading
self.last_current_action.append(
action
) # the real step of physics world is implemented in taskMgr.step()
if self.increment_steering:
self.set_incremental_action(action)
else:
self.set_act(action)
if self.vehicle_panel is not None:
self.vehicle_panel.renew_2d_car_para_visualization(self)
def update_state(self, pg_world=None):
if self.lidar is not None:
self.lidar.perceive(self.position, self.heading_theta,
self.pg_world.physics_world)
if self.routing_localization is not None:
self.lane, self.lane_index = self.routing_localization.update_navigation_localization(
self)
return self._state_check()
def reset(self, map: Map, pos: np.ndarray, heading: float):
"""
pos is a 2-d array, and heading is a float (unit degree)
"""
heading = -np.deg2rad(heading) - np.pi / 2
self.chassis_np.setPos(Vec3(*pos, 1))
self.chassis_np.setQuat(
LQuaternionf(np.cos(heading / 2), 0, 0, np.sin(heading / 2)))
self.update_map_info(map)
self.chassis_np.node().clearForces()
self.chassis_np.node().setLinearVelocity(Vec3(0, 0, 0))
self.chassis_np.node().setAngularVelocity(Vec3(0, 0, 0))
self.system.resetSuspension()
# done info
self.crash = False
self.out_of_road = False
# other info
self.throttle_brake = 0.0
self.steering = 0
self.last_current_action = deque([(0.0, 0.0), (0.0, 0.0)], maxlen=2)
self.last_position = self.born_place
self.last_heading_dir = self.heading
if "depth_cam" in self.image_sensors and self.image_sensors[
"depth_cam"].view_ground:
for block in map.blocks:
block.node_path.hide(CamMask.DepthCam)
"""------------------------------------------- act -------------------------------------------------"""
def set_act(self, action):
para = self.get_config()
steering = action[0]
self.throttle_brake = action[1]
self.steering = steering
self.system.setSteeringValue(
self.steering * para[Parameter.steering_max], 0)
self.system.setSteeringValue(
self.steering * para[Parameter.steering_max], 1)
self._apply_throttle_brake(action[1])
def set_incremental_action(self, action: np.ndarray):
self.throttle_brake = action[1]
self.steering += action[0] * self.STEERING_INCREMENT
self.steering = clip(self.steering, -1, 1)
steering = self.steering * self.max_steering
self.system.setSteeringValue(steering, 0)
self.system.setSteeringValue(steering, 1)
self._apply_throttle_brake(action[1])
def _apply_throttle_brake(self, throttle_brake):
para = self.get_config()
max_engine_force = para[Parameter.engine_force_max]
max_brake_force = para[Parameter.brake_force_max]
for wheel_index in range(4):
if throttle_brake >= 0:
self.system.setBrake(2.0, wheel_index)
if self.speed > self.max_speed:
self.system.applyEngineForce(0.0, wheel_index)
else:
self.system.applyEngineForce(
max_engine_force * throttle_brake, wheel_index)
else:
self.system.applyEngineForce(0.0, wheel_index)
self.system.setBrake(
abs(throttle_brake) * max_brake_force, wheel_index)
"""---------------------------------------- vehicle info ----------------------------------------------"""
@property
def position(self):
return pgdrive_position(self.chassis_np.getPos())
@property
def speed(self):
"""
km/h
"""
speed = self.chassis_np.node().get_linear_velocity().length() * 3.6
return clip(speed, 0.0, 100000.0)
@property
def heading(self):
real_heading = self.heading_theta
heading = np.array([np.cos(real_heading), np.sin(real_heading)])
return heading
@property
def heading_theta(self):
"""
Get the heading theta of vehicle, unit [rad]
:return: heading in rad
"""
return (pgdrive_heading(self.chassis_np.getH()) - 90) / 180 * math.pi
@property
def velocity(self) -> np.ndarray:
return self.speed * self.velocity_direction
@property
def velocity_direction(self):
direction = self.system.get_forward_vector()
return np.asarray([direction[0], -direction[1]])
@property
def forward_direction(self):
raise ValueError("This function id deprecated.")
# print("This function id deprecated.")
# direction = self.vehicle.get_forward_vector()
# return np.array([direction[0], -direction[1]])
@property
def current_road(self):
return self.lane_index[0:-1]
"""---------------------------------------- some math tool ----------------------------------------------"""
def heading_diff(self, target_lane):
lateral = None
if isinstance(target_lane, StraightLane):
lateral = np.asarray(
get_vertical_vector(target_lane.end - target_lane.start)[1])
elif isinstance(target_lane, CircularLane):
if target_lane.direction == -1:
lateral = self.position - target_lane.center
else:
lateral = target_lane.center - self.position
else:
raise ValueError("Unknown target lane type: {}".format(
type(target_lane)))
lateral_norm = norm(lateral[0], lateral[1])
forward_direction = self.heading
# print(f"Old forward direction: {self.forward_direction}, new heading {self.heading}")
forward_direction_norm = norm(forward_direction[0],
forward_direction[1])
if not lateral_norm * forward_direction_norm:
return 0
# cos = self.forward_direction.dot(lateral) / (np.linalg.norm(lateral) * np.linalg.norm(self.forward_direction))
cos = ((forward_direction[0] * lateral[0] +
forward_direction[1] * lateral[1]) /
(lateral_norm * forward_direction_norm))
# return cos
# Normalize to 0, 1
return clip(cos, -1.0, 1.0) / 2 + 0.5
def projection(self, vector):
# Projected to the heading of vehicle
# forward_vector = self.vehicle.get_forward_vector()
# forward_old = (forward_vector[0], -forward_vector[1])
forward = self.heading
# print(f"[projection] Old forward {forward_old}, new heading {forward}")
norm_velocity = norm(forward[0], forward[1]) + 1e-6
project_on_heading = (vector[0] * forward[0] +
vector[1] * forward[1]) / norm_velocity
side_direction = get_vertical_vector(forward)[1]
side_norm = norm(side_direction[0], side_direction[1]) + 1e-6
project_on_side = (vector[0] * side_direction[0] +
vector[1] * side_direction[1]) / side_norm
return project_on_heading, project_on_side
def lane_distance_to(self, vehicle, lane: AbstractLane = None) -> float:
assert self.routing_localization is not None, "a routing and localization module should be added " \
"to interact with other vehicles"
if not vehicle:
return np.nan
if not lane:
lane = self.lane
return lane.local_coordinates(
vehicle.position)[0] - lane.local_coordinates(self.position)[0]
"""-------------------------------------- for vehicle making ------------------------------------------"""
def _add_chassis(self, pg_physics_world: PGPhysicsWorld):
para = self.get_config()
chassis = BulletRigidBodyNode(BodyName.Ego_vehicle_top)
chassis.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
chassis_shape = BulletBoxShape(
Vec3(para[Parameter.vehicle_width] / 2,
para[Parameter.vehicle_length] / 2,
para[Parameter.vehicle_height] / 2))
ts = TransformState.makePos(
Vec3(0, 0, para[Parameter.chassis_height] * 2))
chassis.addShape(chassis_shape, ts)
heading = np.deg2rad(-para[Parameter.heading] - 90)
chassis.setMass(para[Parameter.mass])
self.chassis_np = self.node_path.attachNewNode(chassis)
# not random born now
self.chassis_np.setPos(Vec3(*self.born_place, 1))
self.chassis_np.setQuat(
LQuaternionf(np.cos(heading / 2), 0, 0, np.sin(heading / 2)))
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(True) # advance collision check
self.pg_world.physics_world.dynamic_world.setContactAddedCallback(
PythonCallbackObject(self._collision_check))
self.dynamic_nodes.append(chassis)
chassis_beneath = BulletGhostNode(BodyName.Ego_vehicle)
chassis_beneath.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
chassis_beneath.addShape(chassis_shape)
self.chassis_beneath_np = self.chassis_np.attachNewNode(
chassis_beneath)
self.dynamic_nodes.append(chassis_beneath)
self.system = BulletVehicle(pg_physics_world.dynamic_world, chassis)
self.system.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(
self.system
) # detach chassis will also detach system, so a waring will generate
self.LENGTH = para[Parameter.vehicle_length]
self.WIDTH = para[Parameter.vehicle_width]
if self.render:
model_path = 'models/ferra/scene.gltf'
self.chassis_vis = self.loader.loadModel(
AssetLoader.file_path(model_path))
self.chassis_vis.setZ(para[Parameter.vehicle_vis_z])
self.chassis_vis.setY(para[Parameter.vehicle_vis_y])
self.chassis_vis.setH(para[Parameter.vehicle_vis_h])
self.chassis_vis.set_scale(para[Parameter.vehicle_vis_scale])
self.chassis_vis.reparentTo(self.chassis_np)
def _create_wheel(self):
para = self.get_config()
f_l = para[Parameter.front_tire_longitude]
r_l = -para[Parameter.rear_tire_longitude]
lateral = para[Parameter.tire_lateral]
axis_height = para[Parameter.tire_radius] + 0.05
radius = para[Parameter.tire_radius]
wheels = []
for k, pos in enumerate([
Vec3(lateral, f_l, axis_height),
Vec3(-lateral, f_l, axis_height),
Vec3(lateral, r_l, axis_height),
Vec3(-lateral, r_l, axis_height)
]):
wheel = self._add_wheel(pos, radius, True if k < 2 else False,
True if k == 0 or k == 2 else False)
wheels.append(wheel)
return wheels
def _add_wheel(self, pos: Vec3, radius: float, front: bool, left):
wheel_np = self.node_path.attachNewNode("wheel")
if self.render:
model_path = 'models/yugo/yugotireR.egg' if left else 'models/yugo/yugotireL.egg'
wheel_model = self.loader.loadModel(
AssetLoader.file_path(model_path))
wheel_model.reparentTo(wheel_np)
wheel_model.set_scale(1.4, radius / 0.25, radius / 0.25)
wheel = self.system.create_wheel()
wheel.setNode(wheel_np.node())
wheel.setChassisConnectionPointCs(pos)
wheel.setFrontWheel(front)
wheel.setWheelDirectionCs(Vec3(0, 0, -1))
wheel.setWheelAxleCs(Vec3(1, 0, 0))
# TODO add them to PGConfig in the future
wheel.setWheelRadius(radius)
wheel.setMaxSuspensionTravelCm(40)
wheel.setSuspensionStiffness(30)
wheel.setWheelsDampingRelaxation(4.8)
wheel.setWheelsDampingCompression(1.2)
wheel.setFrictionSlip(self.vehicle_config["wheel_friction"])
wheel.setRollInfluence(1.5)
return wheel
def add_image_sensor(self, name: str, sensor: ImageBuffer):
self.image_sensors[name] = sensor
def add_lidar(self, laser_num=240, distance=50):
self.lidar = Lidar(self.pg_world.render, laser_num, distance)
def add_routing_localization(self, show_navi_point: bool):
self.routing_localization = RoutingLocalizationModule(
self.pg_world, show_navi_point)
def update_map_info(self, map):
"""
Update map info after reset()
:param map: new map
:return: None
"""
self.routing_localization.update(map)
lane, new_l_index = ray_localization((self.born_place), self.pg_world)
assert lane is not None, "Born place is not on road!"
self.lane_index = new_l_index
self.lane = lane
def _state_check(self):
"""
Check States and filter to update info
"""
result = self.pg_world.physics_world.dynamic_world.contactTest(
self.chassis_beneath_np.node(), True)
contacts = set()
for contact in result.getContacts():
node0 = contact.getNode0()
node1 = contact.getNode1()
name = [node0.getName(), node1.getName()]
name.remove(BodyName.Ego_vehicle)
if name[0] == "Ground" or name[0] == BodyName.Lane:
continue
elif name[0] == BodyName.Side_walk:
self.out_of_road = True
contacts.add(name[0])
if self.render:
self.render_collision_info(contacts)
return contacts
def _collision_check(self, contact):
"""
It may lower the performance if overdone
"""
node0 = contact.getNode0().getName()
node1 = contact.getNode1().getName()
name = [node0, node1]
name.remove(BodyName.Ego_vehicle_top)
if name[0] == BodyName.Traffic_vehicle:
self.crash = True
logging.debug("Crash with {}".format(name[0]))
def _init_collision_info_render(self, pg_world):
if pg_world.mode == "onscreen":
info_np = NodePath("Collision info nodepath")
info_np.reparentTo(pg_world.aspect2d)
else:
info_np = None
return info_np
def render_collision_info(self, contacts):
contacts = sorted(list(contacts),
key=lambda c: COLLISION_INFO_COLOR[COLOR[c]][0])
text = contacts[0] if len(contacts) != 0 else None
if text is None:
text = "Normal" if time.time(
) - self.pg_world._episode_start_time > 10 else "Press H to see help message"
self.render_banner(text, COLLISION_INFO_COLOR["green"][1])
else:
self.render_banner(text, COLLISION_INFO_COLOR[COLOR[text]][1])
def render_banner(self, text, color=COLLISION_INFO_COLOR["green"][1]):
"""
Render the banner in the left bottom corner.
"""
if self.collision_info_np is None:
return
if self.current_banner is not None:
self.current_banner.detachNode()
if text in self.collision_banners:
self.collision_banners[text].reparentTo(self.collision_info_np)
self.current_banner = self.collision_banners[text]
else:
new_banner = NodePath(TextNode("collision_info:{}".format(text)))
self.collision_banners[text] = new_banner
text_node = new_banner.node()
text_node.setCardColor(color)
text_node.setText(text)
text_node.setCardActual(-5 * self.pg_world.w_scale,
5.1 * self.pg_world.w_scale, -0.3, 1)
text_node.setCardDecal(True)
text_node.setTextColor(1, 1, 1, 1)
text_node.setAlign(TextNode.A_center)
new_banner.setScale(0.05)
new_banner.setPos(-0.75 * self.pg_world.w_scale, 0,
-0.8 * self.pg_world.h_scale)
new_banner.reparentTo(self.collision_info_np)
self.current_banner = new_banner
def destroy(self, _=None):
self.dynamic_nodes.remove(self.chassis_np.node())
super(BaseVehicle, self).destroy(self.pg_world)
self.pg_world.physics_world.dynamic_world.clearContactAddedCallback()
self.routing_localization.destroy()
self.routing_localization = None
if self.lidar is not None:
self.lidar.destroy()
self.lidar = None
if len(self.image_sensors) != 0:
for sensor in self.image_sensors.values():
sensor.destroy(self.pg_world)
self.image_sensors = None
if self.vehicle_panel is not None:
self.vehicle_panel.destroy(self.pg_world)
self.pg_world = None
def set_position(self, position):
"""
Should only be called when restore traffic from episode data
:param position: 2d array or list
:return: None
"""
self.chassis_np.setPos(panda_position(position, 0.4))
def set_heading(self, heading_theta) -> None:
"""
Should only be called when restore traffic from episode data
:param heading_theta: float in rad
:return: None
"""
self.chassis_np.setH((panda_heading(heading_theta) * 180 / np.pi) - 90)
def get_state(self):
return {
"heading": self.heading_theta,
"position": self.position.tolist(),
"done": self.crash or self.out_of_road
}
def set_state(self, state: dict):
self.set_heading(state["heading"])
self.set_position(state["position"])
def __del__(self):
super(BaseVehicle, self).__del__()
self.pg_world = None
self.lidar = None
self.mini_map = None
self.rgb_cam = None
self.routing_localization = None
self.wheels = None
class Game(ShowBase):
def __init__(self):
ShowBase.__init__(self)
base.set_background_color(0.1, 0.1, 0.8, 1)
base.set_frame_rate_meter(True)
base.cam.set_pos(0, -20, 4)
base.cam.look_at(0, 0, 0)
# Light
alight = AmbientLight('ambientLight')
alight.set_color(LVector4(0.5, 0.5, 0.5, 1))
alightNP = render.attach_new_node(alight)
dlight = DirectionalLight('directionalLight')
dlight.set_direction(LVector3(1, 1, -1))
dlight.set_color(LVector4(0.7, 0.7, 0.7, 1))
dlightNP = render.attach_new_node(dlight)
render.clear_light()
render.set_light(alightNP)
render.set_light(dlightNP)
# Input
self.accept('escape', self.do_exit)
self.accept('r', self.do_reset)
self.accept('f1', base.toggle_wireframe)
self.accept('f2', base.toggle_texture)
self.accept('f3', self.toggle_debug)
self.accept('f5', self.do_screenshot)
inputState.watchWithModifiers('forward', 'w')
inputState.watchWithModifiers('reverse', 's')
inputState.watchWithModifiers('turnLeft', 'a')
inputState.watchWithModifiers('turnRight', 'd')
# Task
taskMgr.add(self.update, 'updateWorld')
# Physics
self.setup()
# _____HANDLER_____
def do_exit(self):
self.cleanup()
sys.exit(1)
def do_reset(self):
self.cleanup()
self.setup()
def toggle_debug(self):
if self.debugNP.is_hidden():
self.debugNP.show()
else:
self.debugNP.hide()
def do_screenshot(self):
base.screenshot('Bullet')
# ____TASK___
def process_input(self, dt):
engineForce = 0.0
brakeForce = 0.0
if inputState.isSet('forward'):
engineForce = 1000.0
brakeForce = 0.0
if inputState.isSet('reverse'):
engineForce = 0.0
brakeForce = 100.0
if inputState.isSet('turnLeft'):
self.steering += dt * self.steeringIncrement
self.steering = min(self.steering, self.steeringClamp)
if inputState.isSet('turnRight'):
self.steering -= dt * self.steeringIncrement
self.steering = max(self.steering, -self.steeringClamp)
# Apply steering to front wheels
self.vehicle.setSteeringValue(self.steering, 0);
self.vehicle.setSteeringValue(self.steering, 1);
# Apply engine and brake to rear wheels
self.vehicle.applyEngineForce(engineForce, 2);
self.vehicle.applyEngineForce(engineForce, 3);
self.vehicle.setBrake(brakeForce, 2);
self.vehicle.setBrake(brakeForce, 3);
def update(self, task):
dt = globalClock.get_dt()
self.process_input(dt)
self.world.do_physics(dt, 10, 0.008)
#print self.vehicle.getWheel(0).getRaycastInfo().isInContact()
#print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs()
#print self.vehicle.getChassis().isKinematic()
return task.cont
def cleanup(self):
self.world = None
self.worldNP.remove_node()
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Plane
shape = BulletPlaneShape(LVector3(0, 0, 1), 0)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground'))
np.node().add_shape(shape)
np.set_pos(0, 0, -1)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Chassis
shape = BulletBoxShape(LVector3(0.6, 1.4, 0.5))
ts = TransformState.make_pos(LPoint3(0, 0, 0.5))
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Vehicle'))
np.node().add_shape(shape, ts)
np.set_pos(0, 0, 1)
np.node().set_mass(800.0)
np.node().set_deactivation_enabled(False)
self.world.attach(np.node())
#np.node().set_ccd_swept_sphere_radius(1.0)
#np.node().set_ccd_motion_threshold(1e-7)
# Vehicle
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.set_coordinate_system(ZUp)
self.world.attach(self.vehicle)
self.yugoNP = loader.load_model('models/yugo/yugo.egg')
self.yugoNP.reparent_to(np)
# Right front wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, -1.05, 0.3), False, np)
# Steering info
self.steering = 0.0 # degree
self.steeringClamp = 45.0 # degree
self.steeringIncrement = 120.0 # degree per second
def add_wheel(self, pos, front, np):
wheel = self.vehicle.create_wheel()
wheel.set_node(np.node())
wheel.set_chassis_connection_point_cs(pos)
wheel.set_front_wheel(front)
wheel.set_wheel_direction_cs(LVector3(0, 0, -1))
wheel.set_wheel_axle_cs(LVector3(1, 0, 0))
wheel.set_wheel_radius(0.25)
wheel.set_max_suspension_travel_cm(40.0)
wheel.set_suspension_stiffness(40.0)
wheel.set_wheels_damping_relaxation(2.3)
wheel.set_wheels_damping_compression(4.4)
wheel.set_friction_slip(100.0);
wheel.set_roll_influence(0.1)
