Rename static agents param (#185)

* Rename and flip condition

* Flip condition in test

src/bindings.cpp

@@ -56,7 +56,7 @@ namespace gpudrive
             .def_rw("useWayMaxModel", &Parameters::useWayMaxModel)
             .def_rw("enableLidar", &Parameters::enableLidar)
             .def_rw("disableClassicalObs", &Parameters::disableClassicalObs)
-            .def_rw("initAgentsAsStatic", &Parameters::initAgentsAsStatic);
+            .def_rw("isStaticAgentControlled", &Parameters::isStaticAgentControlled);
 
         // Define CollisionBehaviour enum
         nb::enum_<CollisionBehaviour>(m, "CollisionBehaviour")

src/init.hpp

@@ -112,7 +112,7 @@ namespace gpudrive
         FindRoadObservationsWith roadObservationAlgorithm{
             FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering};
         bool initOnlyValidAgentsAtFirstStep = true; // Default: true
-        bool initAgentsAsStatic = false; // Default: false
+        bool isStaticAgentControlled = false; // Default: false
         bool enableLidar = false;
         bool disableClassicalObs = false;
         bool useWayMaxModel = false; // Default: false

src/level_gen.cpp

@@ -94,7 +94,7 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
 
     populateExpertTrajectory(ctx, agent, agentInit);
 
-    if(ctx.data().params.initAgentsAsStatic && (ctx.get<Goal>(agent).position - ctx.get<Trajectory>(agent).positions[0]).length() < consts::staticThreshold)
+    if(!ctx.data().params.isStaticAgentControlled && (ctx.get<Goal>(agent).position - ctx.get<Trajectory>(agent).positions[0]).length() < consts::staticThreshold)
     {
         ctx.get<ResponseType>(agent) = ResponseType::Static;
     }

src/sim.cpp

@@ -276,7 +276,7 @@ inline void movementSystem(Engine &e,
     if(responseType == ResponseType::Static)
     {
         // Do nothing. The agent is static.
-        // Agent can only be static if initAgentsAsStatic is set to true.
+        // Agent can only be static if isStaticAgentControlled is set to true.
         return;
     }
 

tests/test_expert.py

@@ -18,7 +18,7 @@ def simulation_results():
     params.rewardParams = reward_params  # Set the rewardParams attribute to the instance created above
     params.maxNumControlledVehicles = 0
     params.IgnoreNonVehicles = True
-    params.initAgentsAsStatic = True
+    params.isStaticAgentControlled = False
 
     # Now use the 'params' instance when creating SimManager
     sim = gpudrive.SimManager(