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Add boost to CarState
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@VirxEC
VirxEC committed Aug 12, 2023
1 parent 8ab0635 commit 361093e
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Showing 5 changed files with 40 additions and 39 deletions.
2 changes: 1 addition & 1 deletion Cargo.lock
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2 changes: 1 addition & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "rlviser-py"
version = "0.3.0"
version = "0.3.1"
edition = "2021"
description = "Python implementation that manages a UDP connection to RLViser"
license = "MIT"
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4 changes: 2 additions & 2 deletions pytest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,9 @@

# Setup example arena
car = arena.add_car(rs.Team.BLUE)
car.set_state(rs.CarState(pos=rs.Vec(z=17), vel=rs.Vec(x=50)))
car.set_state(rs.CarState(pos=rs.Vec(z=17), vel=rs.Vec(x=50), boost=100))
arena.ball.set_state(rs.BallState(pos=rs.Vec(y=400, z=100), ang_vel=rs.Vec(x=5)))
car.set_controls(rs.CarControls(throttle=1, steer=1))
car.set_controls(rs.CarControls(throttle=1, steer=1, boost=True))

# Run for 3 seconds

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66 changes: 33 additions & 33 deletions src/bytes.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
use core::panic;

use glam::{Mat3A, Quat, Vec3A};
use glam::{Mat3, Quat, Vec3 as Vec3G};
use pyo3::FromPyObject;

#[derive(Clone, Copy, Debug, Default, FromPyObject)]
Expand Down Expand Up @@ -32,9 +32,9 @@ impl From<[f32; 3]> for Vec3 {
}
}

impl From<Vec3A> for Vec3 {
impl From<Vec3G> for Vec3 {
#[inline]
fn from(value: Vec3A) -> Self {
fn from(value: Vec3G) -> Self {
Self::new(value.x, value.y, value.z)
}
}
Expand Down Expand Up @@ -66,9 +66,9 @@ impl RotMat {
}
}

impl From<Mat3A> for RotMat {
impl From<Mat3> for RotMat {
#[inline]
fn from(value: Mat3A) -> Self {
fn from(value: Mat3) -> Self {
Self {
forward: value.x_axis.into(),
right: value.y_axis.into(),
Expand Down Expand Up @@ -284,10 +284,10 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarConfig {
impl ToBytesExact<{ Self::NUM_BYTES }> for BallHitInfo {
fn to_bytes(&self) -> [u8; Self::NUM_BYTES] {
let mut bytes = [0; Self::NUM_BYTES];
bytes[..1].copy_from_slice(&(self.is_valid as u8).to_le_bytes());
bytes[1..1 + Vec3::NUM_BYTES].copy_from_slice(&self.relative_pos_on_ball.to_bytes());
bytes[1 + Vec3::NUM_BYTES..1 + Vec3::NUM_BYTES * 2].copy_from_slice(&self.ball_pos.to_bytes());
bytes[1 + Vec3::NUM_BYTES * 2..1 + Vec3::NUM_BYTES * 3].copy_from_slice(&self.extra_hit_vel.to_bytes());
bytes[..1].copy_from_slice(&u8::from(self.is_valid).to_le_bytes());
bytes[1..=Vec3::NUM_BYTES].copy_from_slice(&self.relative_pos_on_ball.to_bytes());
bytes[(1 + Vec3::NUM_BYTES)..=(Vec3::NUM_BYTES * 2)].copy_from_slice(&self.ball_pos.to_bytes());
bytes[(1 + Vec3::NUM_BYTES * 2)..=(Vec3::NUM_BYTES * 3)].copy_from_slice(&self.extra_hit_vel.to_bytes());
bytes[1 + Vec3::NUM_BYTES * 3..1 + Vec3::NUM_BYTES * 3 + u64::NUM_BYTES]
.copy_from_slice(&self.tick_count_when_hit.to_le_bytes());
bytes[1 + Vec3::NUM_BYTES * 3 + u64::NUM_BYTES..]
Expand All @@ -304,9 +304,9 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarControls {
bytes[f32::NUM_BYTES * 2..f32::NUM_BYTES * 3].copy_from_slice(&self.pitch.to_le_bytes());
bytes[f32::NUM_BYTES * 3..f32::NUM_BYTES * 4].copy_from_slice(&self.yaw.to_le_bytes());
bytes[f32::NUM_BYTES * 4..f32::NUM_BYTES * 5].copy_from_slice(&self.roll.to_le_bytes());
bytes[f32::NUM_BYTES * 5..f32::NUM_BYTES * 5 + 1].copy_from_slice(&(self.boost as u8).to_le_bytes());
bytes[f32::NUM_BYTES * 5 + 1..f32::NUM_BYTES * 5 + 2].copy_from_slice(&(self.jump as u8).to_le_bytes());
bytes[f32::NUM_BYTES * 5 + 2..].copy_from_slice(&(self.handbrake as u8).to_le_bytes());
bytes[(f32::NUM_BYTES * 5)..=(f32::NUM_BYTES * 5)].copy_from_slice(&u8::from(self.boost).to_le_bytes());
bytes[f32::NUM_BYTES * 5 + 1..f32::NUM_BYTES * 5 + 2].copy_from_slice(&u8::from(self.jump).to_le_bytes());
bytes[f32::NUM_BYTES * 5 + 2..].copy_from_slice(&u8::from(self.handbrake).to_le_bytes());
bytes
}
}
Expand All @@ -325,17 +325,17 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
bytes[Vec3::NUM_BYTES * 2 + RotMat::NUM_BYTES..Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES]
.copy_from_slice(&self.ang_vel.to_bytes());
// is_on_ground: bool,
bytes[Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES..Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 1]
.copy_from_slice(&(self.is_on_ground as u8).to_le_bytes());
bytes[(Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES)..=(Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES)]
.copy_from_slice(&u8::from(self.is_on_ground).to_le_bytes());
// has_jumped: bool,
bytes[Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 1..Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 2]
.copy_from_slice(&(self.has_jumped as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.has_jumped).to_le_bytes());
// has_double_jumped: bool,
bytes[Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 2..Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 3]
.copy_from_slice(&(self.has_double_jumped as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.has_double_jumped).to_le_bytes());
// has_flipped: bool,
bytes[Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 3..Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 4]
.copy_from_slice(&(self.has_flipped as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.has_flipped).to_le_bytes());
// last_rel_dodge_torque: Vec3,
bytes[Vec3::NUM_BYTES * 3 + RotMat::NUM_BYTES + 4..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4]
.copy_from_slice(&self.last_rel_dodge_torque.to_bytes());
Expand All @@ -349,11 +349,11 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
// is_flipping: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2]
.copy_from_slice(&(self.is_flipping as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.is_flipping).to_le_bytes());
// is_jumping: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 2]
.copy_from_slice(&(self.is_jumping as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.is_jumping).to_le_bytes());
// air_time_since_jump: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 3]
Expand All @@ -369,7 +369,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
// is_supersonic: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 5]
.copy_from_slice(&(self.is_supersonic as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.is_supersonic).to_le_bytes());
// supersonic_time: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 6]
Expand All @@ -381,7 +381,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
// is_auto_flipping: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 7]
.copy_from_slice(&(self.is_auto_flipping as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.is_auto_flipping).to_le_bytes());
// auto_flip_timer: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8]
Expand All @@ -393,7 +393,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
// has_contact: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9]
.copy_from_slice(&(self.has_world_contact as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.has_world_contact).to_le_bytes());
// contact_normal: Vec3,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9]
Expand All @@ -409,7 +409,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
// is_demoed: bool,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 10 + u32::NUM_BYTES]
.copy_from_slice(&(self.is_demoed as u8).to_le_bytes());
.copy_from_slice(&u8::from(self.is_demoed).to_le_bytes());
// demo_respawn_timer: f32,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 10 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES]
Expand All @@ -430,7 +430,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarInfo {
fn to_bytes(&self) -> [u8; Self::NUM_BYTES] {
let mut bytes = [0; Self::NUM_BYTES];
bytes[..u32::NUM_BYTES].copy_from_slice(&self.id.to_le_bytes());
bytes[u32::NUM_BYTES..u32::NUM_BYTES + 1].copy_from_slice(&(self.team as u8).to_le_bytes());
bytes[u32::NUM_BYTES..=u32::NUM_BYTES].copy_from_slice(&(self.team as u8).to_le_bytes());
bytes[u32::NUM_BYTES + 1..u32::NUM_BYTES + 1 + CarState::NUM_BYTES].copy_from_slice(&self.state.to_bytes());
bytes[u32::NUM_BYTES + 1 + CarState::NUM_BYTES..].copy_from_slice(&self.config.to_bytes());
bytes
Expand All @@ -440,7 +440,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarInfo {
impl ToBytesExact<{ Self::NUM_BYTES }> for BoostPadState {
fn to_bytes(&self) -> [u8; Self::NUM_BYTES] {
let mut bytes = [0; Self::NUM_BYTES];
bytes[..1].copy_from_slice(&(self.is_active as u8).to_le_bytes());
bytes[..1].copy_from_slice(&u8::from(self.is_active).to_le_bytes());
bytes[1..5].copy_from_slice(&self.cooldown.to_le_bytes());
bytes[5..9].copy_from_slice(&self.cur_locked_car_id.to_le_bytes());
bytes[9..].copy_from_slice(&self.prev_locked_car_id.to_le_bytes());
Expand All @@ -451,8 +451,8 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for BoostPadState {
impl ToBytesExact<{ Self::NUM_BYTES }> for BoostPad {
fn to_bytes(&self) -> [u8; Self::NUM_BYTES] {
let mut bytes = [0; Self::NUM_BYTES];
bytes[..1].copy_from_slice(&(self.is_big as u8).to_le_bytes());
bytes[1..1 + Vec3::NUM_BYTES].copy_from_slice(&self.position.to_bytes());
bytes[..1].copy_from_slice(&u8::from(self.is_big).to_le_bytes());
bytes[1..=Vec3::NUM_BYTES].copy_from_slice(&self.position.to_bytes());
bytes[1 + Vec3::NUM_BYTES..].copy_from_slice(&self.state.to_bytes());
bytes
}
Expand Down Expand Up @@ -561,7 +561,7 @@ impl FromBytesExact for BoostPadState {
fn from_bytes(bytes: &[u8]) -> Self {
Self {
is_active: bytes[0] != 0,
cooldown: f32::from_bytes(&bytes[1..1 + f32::NUM_BYTES]),
cooldown: f32::from_bytes(&bytes[1..=f32::NUM_BYTES]),
cur_locked_car_id: u32::from_bytes(&bytes[1 + f32::NUM_BYTES..1 + f32::NUM_BYTES + u32::NUM_BYTES]),
prev_locked_car_id: u32::from_bytes(&bytes[1 + f32::NUM_BYTES + u32::NUM_BYTES..]),
}
Expand All @@ -575,7 +575,7 @@ impl FromBytesExact for BoostPad {
fn from_bytes(bytes: &[u8]) -> Self {
Self {
is_big: bytes[0] != 0,
position: Vec3::from_bytes(&bytes[1..1 + Vec3::NUM_BYTES]),
position: Vec3::from_bytes(&bytes[1..=Vec3::NUM_BYTES]),
state: BoostPadState::from_bytes(&bytes[1 + Vec3::NUM_BYTES..Self::NUM_BYTES]),
}
}
Expand All @@ -601,9 +601,9 @@ impl FromBytesExact for BallHitInfo {
fn from_bytes(bytes: &[u8]) -> Self {
Self {
is_valid: bytes[0] != 0,
relative_pos_on_ball: Vec3::from_bytes(&bytes[1..1 + Vec3::NUM_BYTES]),
ball_pos: Vec3::from_bytes(&bytes[1 + Vec3::NUM_BYTES..1 + Vec3::NUM_BYTES * 2]),
extra_hit_vel: Vec3::from_bytes(&bytes[1 + Vec3::NUM_BYTES * 2..1 + Vec3::NUM_BYTES * 3]),
relative_pos_on_ball: Vec3::from_bytes(&bytes[1..=Vec3::NUM_BYTES]),
ball_pos: Vec3::from_bytes(&bytes[(1 + Vec3::NUM_BYTES)..=(Vec3::NUM_BYTES * 2)]),
extra_hit_vel: Vec3::from_bytes(&bytes[(1 + Vec3::NUM_BYTES * 2)..=(Vec3::NUM_BYTES * 3)]),
tick_count_when_hit: u64::from_bytes(&bytes[1 + Vec3::NUM_BYTES * 3..1 + Vec3::NUM_BYTES * 3 + u64::NUM_BYTES]),
tick_count_when_extra_impulse_applied: u64::from_bytes(&bytes[1 + Vec3::NUM_BYTES * 3 + u64::NUM_BYTES..]),
}
Expand Down Expand Up @@ -772,7 +772,7 @@ impl FromBytesExact for CarInfo {
fn from_bytes(bytes: &[u8]) -> Self {
Self {
id: u32::from_bytes(&bytes[..u32::NUM_BYTES]),
team: Team::from_bytes(&bytes[u32::NUM_BYTES..u32::NUM_BYTES + Team::NUM_BYTES]),
team: Team::from_bytes(&bytes[u32::NUM_BYTES..=u32::NUM_BYTES]),
state: CarState::from_bytes(
&bytes[u32::NUM_BYTES + Team::NUM_BYTES..u32::NUM_BYTES + Team::NUM_BYTES + CarState::NUM_BYTES],
),
Expand Down
5 changes: 3 additions & 2 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ use crate::{
gym::GymState,
};
use bytes::{BallState, CarConfig, CarInfo, CarState, GameState, Team, Vec3, WheelPairConfig};
use glam::{Mat3A, Quat};
use glam::{Mat3, Quat};
use gym::BOOST_PADS_LENGTH;
use pyo3::prelude::*;
use std::sync::{
Expand Down Expand Up @@ -115,11 +115,12 @@ fn render_rlgym(gym_state: GymState) {
pos: player.car_data.position.into(),
vel: player.car_data.linear_velocity.into(),
ang_vel: player.car_data.angular_velocity.into(),
rot_mat: Mat3A::from_quat(array_to_quat(player.car_data.quaternion)).into(),
rot_mat: Mat3::from_quat(array_to_quat(player.car_data.quaternion)).into(),
is_on_ground: player.on_ground != 0,
is_demoed: player.is_demoed != 0,
has_flipped: player.has_flip == 0,
has_jumped: player.has_jump == 0,
boost: player.boost_amount,
..Default::default()
},
config: OCTANE,
Expand Down

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