def test_ultrasonic(beamng):
with beamng as bng:
scenario = Scenario('smallgrid', 'ultrasonic_test')
cube_dist = 4
cube = ProceduralCube(name='cube',
pos=(0, -cube_dist, 5),
rot=None,
rot_quat=(0, 0, 0, 1),
size=(1, 20, 10))
scenario.add_procedural_mesh(cube)
pos = (0, 1, 2)
rot = (0, 1, 0)
ultrasonic = Ultrasonic(pos, rot)
vehicle = Vehicle('test', model='pickup')
vehicle.attach_sensor('ultrasonic', ultrasonic)
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot_quat=(0, 0, 0, 1))
scenario.make(beamng)
bng.load_scenario(scenario)
bng.start_scenario()
vehicle.poll_sensors()
assert 0 < vehicle.sensors['ultrasonic'].data['distance'] < cube_dist
def main():
beamng = BeamNGpy('localhost', 64256)
scenario = Scenario('smallgrid', 'mesh_test')
cylinder = ProceduralCylinder(pos=(10, -10, 0),
rot=(0, 0, 0),
radius=3.5,
height=5)
scenario.add_procedural_mesh(cylinder)
cone = ProceduralCone(pos=(-10, -10, 0),
rot=(45, 0, 0),
radius=3.5,
height=5)
scenario.add_procedural_mesh(cone)
cube = ProceduralCube(pos=(0, -20, 0),
rot=(0, 0, 0),
size=(5, 2, 3))
scenario.add_procedural_mesh(cube)
vehicle = Vehicle('ego_vehicle', model='etk800')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
input('Press enter when done...')
finally:
bng.close()
def main():
beamng = BeamNGpy('localhost', 64256,getBeamngDirectory())
scenario = Scenario('smallgrid', 'road_test')
vehicle = Vehicle('LIF_Mobile', model='etkc', licence='LIFLAB', colour='Blue')
ramp = StaticObject(name='pyramp', pos=(250,0, 0), rot=(0, 0, 90), scale=(0.5, 0.5, 0.5),
shape='/levels/west_coast_usa/art/shapes/objects/ramp_massive.dae')
ring = ProceduralRing(name='pyring', pos=(380, 0, 60), rot=(0, 0, 0), radius=5, thickness=2.5)
wall= StaticObject(name="trumps_wall",pos=(420,0,0),rot=(0,0,0), scale=(1,10,75),
shape='/levels/smallgrid/art/shapes/misc/gm_alpha_barrier.dae')
road_c = Road('track_editor_B_center', rid='jump_road')
roadC_Nodes=[(-2,0,0,10),(420,0,0,7)]
road_c.nodes.extend(roadC_Nodes)
scenario.add_road(road_c)
scenario.add_procedural_mesh(ring)
scenario.add_object(ramp)
scenario.add_object(wall)
scenario.add_vehicle(vehicle,(0,0,0),(0,0,-90))
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
input('Press enter when done...')
finally:
bng.close()
def main():
beamng = BeamNGpy('localhost', 64256)
scenario = Scenario('smallgrid', 'mesh_test')
cylinder = ProceduralCylinder(name='cylinder',
radius=3.5,
height=5,
pos=(10, -10, 0),
rot=None,
rot_quat=(0, 0, 0, 1))
scenario.add_procedural_mesh(cylinder)
bump = ProceduralBump(name='bump',
pos=(-10, -10, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
width=5,
length=7,
height=2,
upper_length=2,
upper_width=2)
scenario.add_procedural_mesh(bump)
cone = ProceduralCone(name='cone',
pos=(-10, -20, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
radius=3.5,
height=5)
scenario.add_procedural_mesh(cone)
cube = ProceduralCube(name='cube',
pos=(0, -20, 0),
rot=None,
rot_quat=(0, 0, 0, 1),
size=(5, 2, 3))
scenario.add_procedural_mesh(cube)
ring = ProceduralRing(name='ring',
pos=(10, -20, 0),
rot=None,
rot_quat=(0, 0.7071068, 0, 0.7071068),
radius=2,
thickness=1)
scenario.add_procedural_mesh(ring)
vehicle = Vehicle('ego_vehicle', model='etk800')
scenario.add_vehicle(vehicle,
pos=(0, 0, 0),
rot=None,
rot_quat=(0, 0, 0, 1))
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.start_scenario()
input('Press enter when done...')
finally:
bng.close()
rot=(0, 0, -126.25))
ramp = StaticObject(
name='pyramp',
pos=(277.5, 183.5, 118.75),
rot=(0, 0, 55),
scale=(1, 1, 1),
shape='/levels/west_coast_usa/art/shapes/objects/ramp_massive.dae')
scenario.add_object(ramp)
ring = ProceduralRing(name='pyring',
pos=(445, 301, 218),
rot=(0, 0, 100),
radius=5,
thickness=2.5)
scenario.add_procedural_mesh(ring)
cam_pos = (391.5, 251, 197.8)
cam_dir = (445 - cam_pos[0], 301 - cam_pos[1], 208 - cam_pos[2])
cam = Camera(cam_pos,
cam_dir,
60, (2048, 2048),
near_far=(1, 4000),
colour=True)
scenario.add_camera(cam, 'cam')
scenario.make(beamng)
bng = beamng.open()
bng.set_deterministic()
bng.load_scenario(scenario)
def add_obstacles_to_scenario(self, scenario: Scenario) -> None:
from beamngpy import ProceduralCone, ProceduralCube, ProceduralCylinder, ProceduralBump, StaticObject
from dbtypes.scheme import Cone, Cube, Cylinder, Bump, Stopsign, TrafficLightSingle, TrafficLightDouble
from random import randrange
for obstacle in self.obstacles:
obstacle_type = type(obstacle)
height = obstacle.height
pos = (obstacle.x, obstacle.y, height / 2.0)
rot = (obstacle.x_rot, obstacle.y_rot, obstacle.z_rot)
name = obstacle.oid
mesh = None
if obstacle_type is Cube:
mesh = ProceduralCube(
pos,
rot, (obstacle.length, obstacle.width, height),
name=name)
elif obstacle_type is Cylinder:
mesh = ProceduralCylinder(pos,
rot,
obstacle.radius,
height=height,
name=name)
elif obstacle_type is Cone:
mesh = ProceduralCone(pos,
rot,
obstacle.base_radius,
height,
name=name)
elif obstacle_type is Bump:
mesh = ProceduralBump(pos,
rot,
obstacle.width,
obstacle.length,
height,
obstacle.upper_length,
obstacle.upper_width,
name=name)
elif obstacle_type is Stopsign:
id_number = randrange(1000)
name_sign = "stopsign" + str(id_number)
stopsign = StaticObject(
pos=(obstacle.x, obstacle.y, 0),
rot=rot,
name=name_sign,
scale=(3, 3, 3),
shape='/levels/drivebuild/art/objects/stopsign.dae')
scenario.add_object(stopsign)
elif obstacle_type is TrafficLightSingle:
id_number = randrange(1000)
name_light = "trafficlight" + str(id_number)
name_pole = "pole" + str(id_number)
traffic_light = StaticObject(
name=name_light,
pos=(obstacle.x, obstacle.y, 5.32),
rot=rot,
scale=(1, 1, 1),
shape='/levels/drivebuild/art/objects/trafficlight1a.dae')
scenario.add_object(traffic_light)
pole = StaticObject(
name=name_pole,
pos=(obstacle.x, obstacle.y, 0),
rot=rot,
scale=(1, 1, 1.3),
shape='/levels/drivebuild/art/objects/pole_traffic1.dae')
scenario.add_object(pole)
elif obstacle_type is TrafficLightDouble:
from math import radians, sin, cos
from numpy import dot
id_number = randrange(1000)
name_light1 = "trafficlight" + str(id_number)
name_light2 = "trafficlight" + str(id_number) + 'a'
name_pole = "pole" + str(id_number)
rad = radians(obstacle.z_rot)
pole_coords = (obstacle.x, obstacle.y, 0)
traffic_light1_coords = (7.5, 0.35)
traffic_light2_coords = (3, 0.35)
rot_matrix = [[cos(rad), sin(rad)], [-sin(rad), cos(rad)]]
traffic_light1_coords = dot(rot_matrix, traffic_light1_coords)
traffic_light1_coords = (traffic_light1_coords[0] +
pole_coords[0],
traffic_light1_coords[1] +
pole_coords[1], 7.8)
traffic_light2_coords = dot(rot_matrix, traffic_light2_coords)
traffic_light2_coords = (traffic_light2_coords[0] +
pole_coords[0],
traffic_light2_coords[1] +
pole_coords[1], 7.3)
pole2 = StaticObject(
name=name_pole,
pos=pole_coords,
rot=rot,
scale=(1, 1, 1),
shape=
'/levels/drivebuild/art/objects/pole_light_signal1.dae')
scenario.add_object(pole2)
traffic_light1 = StaticObject(
name=name_light1,
pos=traffic_light1_coords,
rot=rot,
scale=(1, 1, 1),
shape='/levels/drivebuild/art/objects/trafficlight2a.dae')
scenario.add_object(traffic_light1)
traffic_lights2 = StaticObject(
name=name_light2,
pos=traffic_light2_coords,
rot=rot,
scale=(1, 1, 1),
shape='/levels/drivebuild/art/objects/trafficlight2a.dae')
scenario.add_object(traffic_lights2)
else:
_logger.warning("Obstacles of type " + str(obstacle_type) +
" are not supported by the generation, yet.")
mesh = None
if mesh:
# NOTE Procedural meshes use radians for rotation
scenario.add_procedural_mesh(mesh)
