Decoupled shape position updates

fluids/assets/car.py

@@ -85,11 +85,8 @@ def raw_step(self, steer, f_acc):
         x, y, vel, angle = delta_ode_state[-1]
 
 
-        self.angle = angle
-        self.x = x
-        self.y = y
         self.vel = vel
-        self.update_points()
+        self.update_points(x, y, angle)
 
 
 

fluids/assets/pedestrian.py

@@ -26,10 +26,10 @@ def step(self, action):
             x0, y0 = self.x, self.y
             x1, y1 = self.waypoints[0].x, self.waypoints[0].y
             angle = np.arctan2([y0-y1], [x1-x0])[0]
-            self.x = self.x + 1 * np.cos(angle)
-            self.y = self.y - 1 * np.sin(angle)
-            self.angle = angle
-            self.update_points()
+            x = self.x + 1 * np.cos(angle)
+            y = self.y - 1 * np.sin(angle)
+            angle = angle
+            self.update_points(x, y, angle)
         while len(self.waypoints) < self.planning_depth and len(self.waypoints) and len(self.waypoints[-1].nxt):
             next_waypoint = random.choice(self.waypoints[-1].nxt)
             line = shapely.geometry.LineString([(self.waypoints[-1].x, self.waypoints[-1].y),

fluids/assets/shape.py

@@ -90,7 +90,10 @@ def render_debug(self, surface, color=(255, 0, 0), width=10):
     def step(self, actions):
         pass
 
-    def update_points(self):
+    def update_points(self, x, y, angle):
+        self.x = x
+        self.y = y
+        self.angle = angle
         origin = np.array([self.x, self.y])
         self.points = self.origin_points.dot(rotation_array(self.angle)) + origin
         xs, ys = self.points[:,0], self.points[:,1]