Add egocentric renderings #119
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aaravpandya
requested review from
daphne-cornelisse,
eugenevinitsky and
SamanKazemkhani
src/sim.cpp
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| @@ -387,8 +387,8 @@ inline void lidarSystem(Engine &ctx, Entity e, Lidar &lidar, | |||
| float hit_t; | |||
| Vector3 hit_normal; | |||
| Entity hit_entity = | |||
| bvh.traceRay(pos + 0.5f * math::up, ray_dir, &hit_t, | |||
| &hit_normal, 200.f); | |||
| bvh.traceRay(pos, ray_dir, &hit_t, | |||
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What are these changes?
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Thats to trace the rays for lidar. This PR also has pygame lidar renderings. In madrona escape room the rays were being thrown from a bit higher up. The thing is our road objects do not have that much height and so it wont hit. So I throw the rays from 0 height to ensure it hits them.
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Also I remove the normalization from the distObs because we dont use worldLength
src/sim.cpp
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| @@ -387,8 +387,8 @@ inline void lidarSystem(Engine &ctx, Entity e, Lidar &lidar, | |||
| float hit_t; | |||
| Vector3 hit_normal; | |||
| Entity hit_entity = | |||
| bvh.traceRay(pos + 0.5f * math::up, ray_dir, &hit_t, | |||
| &hit_normal, 200.f); | |||
| bvh.traceRay(pos, ray_dir, &hit_t, | |||
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Also I remove the normalization from the distObs because we dont use worldLength
src/sim.cpp
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| // if (idx < consts::numLidarSamples) { | ||
| // traceRay(idx); | ||
| // } | ||
| while (idx < consts::numLidarSamples) { |
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This change allows to run GPU optimized lidar for more number of lidar samles than 30.
* Add options for madrona render * Use enums and dataclass * Add camera entity * Use render config * Check controlled state safely * Revert headless * Add egocentric rendering support * Add bindings for KNN params * Compute egocentric map obs * Add lidar support * Working lidar * Multi world viz * draw map on every render * Update consts.hpp * revert sim * revert sim
This PR introduces egocentric renders for all agents.