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Scenario.cpp
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Scenario.cpp
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#include "Scenario.h"
#include "lib/utils.h"
#include "lib/rapidjson/writer.h"
#include "Rewarders\GeneralRewarder.h"
#include "Rewarders\LaneRewarder.h"
#include "Rewarders\SpeedRewarder.h"
#include "defaults.h"
#include <time.h>
#include <fstream>
#include <string>
#include <sstream>
#include "Functions.h"
#include "Constants.h"
#include <Eigen/Core>
#include <sstream>
#include "AreaRoaming.h"
extern "C" {
__declspec(dllimport) int export_get_depth_buffer(void** buf);
__declspec(dllexport) int export_get_color_buffer(void** buf);
__declspec(dllexport) int export_get_stencil_buffer(void** buf);
}
const float VERT_CAM_FOV = 59; //In degrees
//Need to input the vertical FOV with GTA functions.
//90 degrees horizontal (KITTI) corresponds to 59 degrees vertical (https://www.gtaall.com/info/fov-calculator.html).
const float HOR_CAM_FOV = 90; //In degrees
const int PEDESTRIAN_CLASS_ID = 10;
char* Scenario::weatherList[14] = { "CLEAR", "EXTRASUNNY", "CLOUDS", "OVERCAST", "RAIN", "CLEARING", "THUNDER", "SMOG", "FOGGY", "XMAS", "SNOWLIGHT", "BLIZZARD", "NEUTRAL", "SNOW" };
char* Scenario::vehicleList[3] = { "blista", "blista", "blista" };//voltic, packer
void Scenario::parseScenarioConfig(const Value& sc, bool setDefaults) {
const Value& location = sc["location"];
const Value& time = sc["time"];
const Value& weather = sc["weather"];
const Value& vehicle = sc["vehicle"];
const Value& drivingMode = sc["drivingMode"];
if (location.IsArray()) {
if (!location[0].IsNull()) x = location[0].GetFloat();
else if (setDefaults) x = 5000 * ((float)rand() / RAND_MAX) - 2500;
if (!location[1].IsNull()) y = location[1].GetFloat();
else if (setDefaults) y = 8000 * ((float)rand() / RAND_MAX) - 2000;
if (!location[2].IsNull()) z = location[2].GetFloat();
else if (setDefaults) z = 0;
if (!location[3].IsNull()) {
log("Location 2 is not null");
startHeading = location[3].GetFloat();
}
else if (setDefaults) {
log("Location 3 is NULL");
startHeading = 0;
}
}
else if (setDefaults) {
x = 5000 * ((float)rand() / RAND_MAX) - 2500;
y = 8000 * ((float)rand() / RAND_MAX) - 2000;
}
if (time.IsArray()) {
if (!time[0].IsNull()) hour = time[0].GetInt();
else if (setDefaults) hour = rand() % 24;
if (!time[1].IsNull()) minute = time[1].GetInt();
else if (setDefaults) minute = rand() % 60;
}
else if (setDefaults) {
hour = 16;//TODO Do we want random times? rand() % 24;
minute = rand() % 60;
}
if (!weather.IsNull()) _weather = weather.GetString();
//TODO: Do we want other weather?
else if (setDefaults) _weather = "CLEAR";// weatherList[rand() % 14];
if (!vehicle.IsNull()) _vehicle = vehicle.GetString();
else if (setDefaults) _vehicle = "ingot";// vehicleList[rand() % 3];
if (drivingMode.IsArray()) {
if (!drivingMode[0].IsNull()) _drivingMode = drivingMode[0].GetInt();
else if (setDefaults) _drivingMode = rand() % 4294967296;
if (drivingMode[1].IsNull()) _setSpeed = drivingMode[1].GetFloat();
else if (setDefaults) _setSpeed = 1.0*(rand() % 10) + 10;
}
else if (setDefaults) {
_drivingMode = -1;
}
}
void Scenario::parseDatasetConfig(const Value& dc, bool setDefaults) {
if (!dc["rate"].IsNull()) rate = dc["rate"].GetFloat();
else if (setDefaults) rate = _RATE_;
if (!dc["startIndex"].IsNull()) {
instance_index = dc["startIndex"].GetInt();
baseTrackingIndex = instance_index;
}
char temp[] = "%06d";
char strComp[sizeof temp + 100];
sprintf(strComp, temp, instance_index);
instance_string = strComp;
if (!dc["frame"].IsNull()) {
if (!dc["frame"][0].IsNull()) s_camParams.width = dc["frame"][0].GetInt();
else if (setDefaults) s_camParams.width = _WIDTH_;
if (!dc["frame"][1].IsNull()) s_camParams.height = dc["frame"][1].GetInt();
else if (setDefaults) s_camParams.height = _HEIGHT_;
}
else if (setDefaults) {
s_camParams.width = _WIDTH_;
s_camParams.height = _HEIGHT_;
}
//Need to reset camera params when dataset config is received
s_camParams.init = false;
if (!dc["vehicles"].IsNull()) vehicles = dc["vehicles"].GetBool();
else if (setDefaults) vehicles = _VEHICLES_;
if (!dc["peds"].IsNull()) peds = dc["peds"].GetBool();
else if (setDefaults) peds = _PEDS_;
if (!dc["trafficSigns"].IsNull()) trafficSigns = dc["trafficSigns"].GetBool();
else if (setDefaults) trafficSigns = _TRAFFIC_SIGNS_;
if (!dc["direction"].IsNull()) {
direction = true;
if (!dc["direction"][0].IsNull()) dir.x = dc["direction"][0].GetFloat();
else if (setDefaults) direction = _DIRECTION_;
if (!dc["direction"][1].IsNull()) dir.y = dc["direction"][1].GetFloat();
else if (setDefaults) direction = _DIRECTION_;
if (!dc["direction"][2].IsNull()) dir.z = dc["direction"][2].GetFloat();
else if (setDefaults) direction = _DIRECTION_;
}
else if (setDefaults) direction = _DIRECTION_;
if (dc["reward"].IsArray()) {
if (dc["reward"][0].IsFloat() && dc["reward"][1].IsFloat()) {
rewarder = new GeneralRewarder((char*)(GetCurrentModulePath() + "paths.xml").c_str(), dc["reward"][0].GetFloat(), dc["reward"][1].GetFloat());
reward = true;
}
else if (setDefaults) reward = _REWARD_;
}
else if (setDefaults) reward = _REWARD_;
if (!dc["throttle"].IsNull()) throttle = dc["throttle"].GetBool();
else if (setDefaults) throttle = _THROTTLE_;
if (!dc["brake"].IsNull()) brake = dc["brake"].GetBool();
else if (setDefaults) brake = _BRAKE_;
if (!dc["steering"].IsNull()) steering = dc["steering"].GetBool();
else if (setDefaults) steering = _STEERING_;
if (!dc["speed"].IsNull()) speed = dc["speed"].GetBool();
else if (setDefaults) speed = _SPEED_;
if (!dc["yawRate"].IsNull()) yawRate = dc["yawRate"].GetBool();
else if (setDefaults) yawRate = _YAW_RATE_;
if (!dc["drivingMode"].IsNull()) drivingMode = dc["drivingMode"].GetBool();
else if (setDefaults) drivingMode = _DRIVING_MODE_;
if (!dc["location"].IsNull()) location = dc["location"].GetBool();
else if (setDefaults) location = _LOCATION_;
if (!dc["time"].IsNull()) time = dc["time"].GetBool();
else if (setDefaults) time = _TIME_;
if (!dc["offscreen"].IsNull()) offscreen = dc["offscreen"].GetBool();
else if (setDefaults) offscreen = _OFFSCREEN_;
if (!dc["showBoxes"].IsNull()) showBoxes = dc["showBoxes"].GetBool();
else if (setDefaults) showBoxes = _SHOWBOXES_;
if (!dc["pointclouds"].IsNull()) pointclouds = dc["pointclouds"].GetBool();
else if (setDefaults) pointclouds = _POINTCLOUDS_;
if (!dc["stationaryScene"].IsNull()) stationaryScene = dc["stationaryScene"].GetBool();
else if (setDefaults) stationaryScene = _STATIONARY_SCENE_;
if (!dc["collectTracking"].IsNull()) collectTracking = dc["collectTracking"].GetBool();
else if (setDefaults) collectTracking = _COLLECT_TRACKING_;
if (!dc["recordScenario"].IsNull()) m_recordScenario = dc["recordScenario"].GetBool();
else if (setDefaults) m_recordScenario = _RECORD_SCENARIO_;
if (!dc["positionScenario"].IsNull()) m_positionScenario = dc["positionScenario"].GetBool();
else if (setDefaults) m_positionScenario = _POSITION_SCENARIO_;
if (DRIVE_SPEC_AREA && !stationaryScene) {
int startArea = 0;
dir.x = s_locationBounds[0][0][startArea];
dir.y = s_locationBounds[0][1][startArea];
dir.z = 0.f;
x = s_locationBounds[0][0][startArea];//1,2,3,4,5,6,7,8 are all good
y = s_locationBounds[0][1][startArea];//1-0 was last one used for 'good' data
}
if (stationaryScene || TRUPERCEPT_SCENARIO) {
vehiclesToCreate.clear();
log("About to get vehicles");
if (!dc["vehiclesToCreate"].IsNull()) {
log("Vehicles non-null");
const rapidjson::Value& jsonVehicles = dc["vehiclesToCreate"];
for (rapidjson::SizeType i = 0; i < jsonVehicles.Size(); i++) {
log("At least one");
bool noHit = false;
VehicleToCreate vehicleToCreate;
const rapidjson::Value& jVeh = jsonVehicles[i];
if (!jVeh[0].IsNull()) vehicleToCreate.model = jVeh[0].GetString();
if (!jVeh[1].IsNull()) vehicleToCreate.forward = jVeh[1].GetFloat();
if (!jVeh[2].IsNull()) vehicleToCreate.right = jVeh[2].GetFloat();
if (!jVeh[3].IsNull()) vehicleToCreate.heading = jVeh[3].GetFloat();
if (!jVeh[4].IsNull()) vehicleToCreate.color = jVeh[4].GetInt();
if (!jVeh[5].IsNull()) vehicleToCreate.color2 = jVeh[5].GetInt();
else noHit = true;
if (!noHit) {
log("Pushing back vehicle");
vehiclesToCreate.push_back(vehicleToCreate);
}
}
}
pedsToCreate.clear();
log("About to get ped");
if (!dc["pedsToCreate"].IsNull()) {
log("ped non-null");
const rapidjson::Value& jsonPeds = dc["pedsToCreate"];
for (rapidjson::SizeType i = 0; i < jsonPeds.Size(); i++) {
log("At least one");
bool noHit = false;
PedToCreate pedToCreate;
const rapidjson::Value& jPed = jsonPeds[i];
if (!jPed[0].IsNull()) pedToCreate.model = jPed[0].GetInt();
if (!jPed[1].IsNull()) pedToCreate.forward = jPed[1].GetFloat();
if (!jPed[2].IsNull()) pedToCreate.right = jPed[2].GetFloat();
if (!jPed[3].IsNull()) pedToCreate.heading = jPed[3].GetFloat();
else noHit = true;
if (!noHit) {
log("Pushing back ped");
pedsToCreate.push_back(pedToCreate);
}
}
}
vehicles_created = false;
}
//Create JSON DOM
d.SetObject();
Document::AllocatorType& allocator = d.GetAllocator();
Value a(kArrayType);
if (vehicles) d.AddMember("vehicles", a, allocator);
if (peds) d.AddMember("peds", a, allocator);
if (trafficSigns) d.AddMember("trafficSigns", a, allocator);
if (direction) d.AddMember("direction", a, allocator);
if (reward) d.AddMember("reward", 0.0, allocator);
if (throttle) d.AddMember("throttle", 0.0, allocator);
if (brake) d.AddMember("brake", 0.0, allocator);
if (steering) d.AddMember("steering", 0.0, allocator);
if (speed) d.AddMember("speed", 0.0, allocator);
if (yawRate) d.AddMember("yawRate", 0.0, allocator);
if (drivingMode) d.AddMember("drivingMode", 0, allocator);
if (location) d.AddMember("location", a, allocator);
if (time) d.AddMember("time", 0, allocator);
d.AddMember("index", 0, allocator);
d.AddMember("focalLen", 0.0, allocator);
d.AddMember("curPosition", a, allocator);
d.AddMember("seriesIndex", a, allocator);
screenCapturer = new ScreenCapturer(s_camParams.width, s_camParams.height);
}
void Scenario::buildScenario() {
Vector3 pos, rotation;
Hash vehicleHash;
float heading;
if (!stationaryScene) {
GAMEPLAY::SET_RANDOM_SEED(std::time(NULL));
while (!PATHFIND::_0xF7B79A50B905A30D(-8192.0f, 8192.0f, -8192.0f, 8192.0f)) WAIT(0);
PATHFIND::GET_CLOSEST_VEHICLE_NODE_WITH_HEADING(x, y, 0, &pos, &heading, 0, 0, 0);
}
ENTITY::DELETE_ENTITY(&m_ownVehicle);
vehicleHash = GAMEPLAY::GET_HASH_KEY((char*)_vehicle);
STREAMING::REQUEST_MODEL(vehicleHash);
while (!STREAMING::HAS_MODEL_LOADED(vehicleHash)) WAIT(0);
if (stationaryScene) {
pos.x = x;
pos.y = y;
pos.z = z;
heading = startHeading;
std::ostringstream oss;
oss << "Start heading: " << startHeading;
std::string str = oss.str();
log(str);
vehicles_created = false;
}
m_ownVehicle = VEHICLE::CREATE_VEHICLE(vehicleHash, pos.x, pos.y, pos.z, heading, FALSE, FALSE);
VEHICLE::SET_VEHICLE_ON_GROUND_PROPERLY(m_ownVehicle);
while (!ENTITY::DOES_ENTITY_EXIST(ped)) {
ped = PLAYER::PLAYER_PED_ID();
WAIT(0);
}
player = PLAYER::PLAYER_ID();
PLAYER::START_PLAYER_TELEPORT(player, pos.x, pos.y, pos.z, heading, 0, 0, 0);
while (PLAYER::IS_PLAYER_TELEPORT_ACTIVE()) WAIT(0);
PED::SET_PED_INTO_VEHICLE(ped, m_ownVehicle, -1);
STREAMING::SET_MODEL_AS_NO_LONGER_NEEDED(vehicleHash);
TIME::SET_CLOCK_TIME(hour, minute, 0);
GAMEPLAY::SET_WEATHER_TYPE_NOW_PERSIST((char*)_weather);
rotation = ENTITY::GET_ENTITY_ROTATION(m_ownVehicle, 0);
CAM::DESTROY_ALL_CAMS(TRUE);
camera = CAM::CREATE_CAM("DEFAULT_SCRIPTED_CAMERA", TRUE);
//if (strcmp(_vehicle, "packer") == 0) CAM::ATTACH_CAM_TO_ENTITY(camera, vehicle, 0, 2.35, 1.7, TRUE);
//else CAM::ATTACH_CAM_TO_ENTITY(camera, vehicle, 0, CAM_OFFSET_FORWARD, CAM_OFFSET_UP, TRUE);
CAM::SET_CAM_FOV(camera, VERT_CAM_FOV);
CAM::SET_CAM_ACTIVE(camera, TRUE);
CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 0);
CAM::SET_CAM_INHERIT_ROLL_VEHICLE(camera, TRUE);
if (stationaryScene) {
_setSpeed = 0;
}
CAM::RENDER_SCRIPT_CAMS(TRUE, FALSE, 0, TRUE, TRUE);
AI::CLEAR_PED_TASKS(ped);
if (_drivingMode >= 0 && !stationaryScene && !m_positionScenario) {
if (DRIVE_SPEC_AREA && !START_SPEC_AREA) {
AI::TASK_VEHICLE_DRIVE_TO_COORD(ped, m_ownVehicle, dir.x, dir.y, dir.z, _setSpeed, Any(1.f), vehicleHash, _drivingMode, 50.f, true);
}
else {
AI::TASK_VEHICLE_DRIVE_WANDER(ped, m_ownVehicle, _setSpeed, _drivingMode);
}
}
//while (!CAM::IS_GAMEPLAY_CAM_RENDERING()) {
// camera = CAM::GET_RENDERING_CAM();// CAM::CREATE_CAM("DEFAULT_SCRIPTED_CAMERA", TRUE);
// if (strcmp(_vehicle, "packer") == 0) CAM::ATTACH_CAM_TO_ENTITY(camera, vehicle, 0, 2.35, 1.7, TRUE);
// else CAM::ATTACH_CAM_TO_ENTITY(camera, vehicle, 0, CAM_OFFSET_FORWARD, CAM_OFFSET_UP, TRUE);
// CAM::SET_CAM_FOV(camera, VERT_CAM_FOV);
// CAM::SET_CAM_ACTIVE(camera, TRUE);
// //CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 0);
// CAM::SET_CAM_INHERIT_ROLL_VEHICLE(camera, TRUE);
// CAM::SET_GAMEPLAY_CAM_RELATIVE_HEADING(0);
// CAM::SET_GAMEPLAY_CAM_RELATIVE_PITCH(0, 0x3F800000);//Constant taken from nativedb
//}
if (m_recordScenario) {
UNK1::_SET_RECORDING_MODE(1);
}
}
void Scenario::start(const Value& sc, const Value& dc) {
if (running) return;
//Parse options
srand(std::time(NULL));
parseScenarioConfig(sc, true);
parseDatasetConfig(dc, true);
//Build scenario
buildScenario();
running = true;
lastSafetyCheck = std::clock();
}
void Scenario::config(const Value& sc, const Value& dc) {
if (!running) return;
running = false;
//Parse options
srand(std::time(NULL));
parseScenarioConfig(sc, false);
parseDatasetConfig(dc, false);
//Build scenario
buildScenario();
running = true;
lastSafetyCheck = std::clock();
}
void Scenario::run() {
if (running) {
if (m_recordScenario) {
Vector3 rotation = ENTITY::GET_ENTITY_ROTATION(m_ownVehicle, 0);
CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 0);
}
std::clock_t now = std::clock();
if (SAME_TIME_OF_DAY) {
TIME::SET_CLOCK_TIME(hour, minute, 0);
}
if (DRIVE_SPEC_AREA && !START_SPEC_AREA) {
if (pow(currentPos.x - dir.x, 2) + pow(currentPos.y - dir.y, 2) < pow(50, 2))
{
std::vector<std::pair<float, float>> new_points = generate_n_random_points(
m_startArea, m_polyGrid, 1, 100, { { currentPos.x , currentPos.y } });
dir.x = new_points[0].first;
dir.y = new_points[0].second;
AI::TASK_VEHICLE_DRIVE_TO_COORD(ped, m_ownVehicle, dir.x, dir.y, dir.z, _setSpeed, Any(1.f),
GAMEPLAY::GET_HASH_KEY((char*)_vehicle), _drivingMode, 1.f, true);
}
else if (!in_bounds(currentPos.x, currentPos.y, m_startArea, m_polyGrid))
{
std::vector<std::pair<float, float>> new_points = generate_n_random_points(
m_startArea, m_polyGrid, 1, 100, { { currentPos.x , currentPos.y } });
dir.x = new_points[0].first;
dir.y = new_points[0].second;
AI::TASK_VEHICLE_DRIVE_TO_COORD(ped, m_ownVehicle, dir.x, dir.y, dir.z, _setSpeed, Any(1.f),
GAMEPLAY::GET_HASH_KEY((char*)_vehicle), _drivingMode, 1.f, true);
}
}
if (_drivingMode < 0) {
CONTROLS::_SET_CONTROL_NORMAL(27, 71, currentThrottle); //[0,1]
CONTROLS::_SET_CONTROL_NORMAL(27, 72, currentBrake); //[0,1]
CONTROLS::_SET_CONTROL_NORMAL(27, 59, currentSteering); //[-1,1]
}
float delay = ((float)(now - lastSafetyCheck)) / CLOCKS_PER_SEC;
if (delay > 10) {
//Need to delay first camera parameters being set so native functions return correct values
if (!s_camParams.firstInit) {
s_camParams.init = false;
setCamParams();
s_camParams.firstInit = true;
}
lastSafetyCheck = std::clock();
//Avoid bad things such as getting killed by the police, robbed, dying in car accidents or other horrible stuff
PLAYER::SET_EVERYONE_IGNORE_PLAYER(player, TRUE);
PLAYER::SET_POLICE_IGNORE_PLAYER(player, TRUE);
PLAYER::CLEAR_PLAYER_WANTED_LEVEL(player); // Never wanted
// Put on seat belt
PED::SET_PED_CONFIG_FLAG(ped, 32, FALSE);
// Invincible vehicle
VEHICLE::SET_VEHICLE_TYRES_CAN_BURST(m_ownVehicle, FALSE);
VEHICLE::SET_VEHICLE_WHEELS_CAN_BREAK(m_ownVehicle, FALSE);
VEHICLE::SET_VEHICLE_HAS_STRONG_AXLES(m_ownVehicle, TRUE);
VEHICLE::SET_VEHICLE_CAN_BE_VISIBLY_DAMAGED(m_ownVehicle, FALSE);
ENTITY::SET_ENTITY_INVINCIBLE(m_ownVehicle, TRUE);
ENTITY::SET_ENTITY_PROOFS(m_ownVehicle, 1, 1, 1, 1, 1, 1, 1, 1);
// Player invincible
PLAYER::SET_PLAYER_INVINCIBLE(player, TRUE);
// Driving characteristics
PED::SET_DRIVER_AGGRESSIVENESS(ped, 0.0);
PED::SET_DRIVER_ABILITY(ped, 100.0);
}
}
scriptWait(0);
}
void Scenario::stop() {
if (!running) return;
running = false;
CAM::DESTROY_ALL_CAMS(TRUE);
CAM::RENDER_SCRIPT_CAMS(FALSE, TRUE, 500, FALSE, FALSE);
AI::CLEAR_PED_TASKS(ped);
setCommands(0.0, 0.0, 0.0);
}
void Scenario::setCommands(float throttle, float brake, float steering) {
currentThrottle = throttle;
currentBrake = brake;
currentSteering = steering;
}
StringBuffer Scenario::generateMessage() {
StringBuffer buffer;
buffer.Clear();
Writer<StringBuffer> writer(buffer);
if (m_recordScenario) {
Vector3 rotation = ENTITY::GET_ENTITY_ROTATION(m_ownVehicle, 0);
CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 0);
return buffer;
}
if (m_positionScenario || OUTPUT_SELF_LOCATION) {
Vector3 currentPos;
Vector3 vehicleForwardVector, vehicleRightVector, vehicleUpVector;
ENTITY::GET_ENTITY_MATRIX(m_ownVehicle, &vehicleForwardVector, &vehicleRightVector, &vehicleUpVector, ¤tPos);
float heading = GAMEPLAY::GET_HEADING_FROM_VECTOR_2D(vehicleForwardVector.x, vehicleForwardVector.y);
std::string baseFolder = std::string(getenv("DEEPGTAV_EXPORT_DIR")) + "\\";
std::string filename = baseFolder + "object\\" + "location.txt";
FILE* f = fopen(filename.c_str(), "w");
std::ostringstream oss;
oss << currentPos.x << ", " << currentPos.y << ", " << currentPos.z << ", " << heading;
std::string str = oss.str();
fprintf(f, str.c_str());
fprintf(f, "\n");
fclose(f);
Vector3 rotation = ENTITY::GET_ENTITY_ROTATION(m_ownVehicle, 0);
CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 0);
if (m_positionScenario) return buffer;
}
log("About to pause game");
GAMEPLAY::SET_GAME_PAUSED(true);
GAMEPLAY::SET_TIME_SCALE(0.0f);
setRenderingCam(m_ownVehicle, CAM_OFFSET_UP, CAM_OFFSET_FORWARD);
////Can check whether camera and vehicle are aligned
//Vector3 camRot2 = CAM::GET_CAM_ROT(camera, 0);
//std::ostringstream oss1;
//oss1 << "entityRotation X: " << rotation.x << " Y: " << rotation.y << " Z: " << rotation.z <<
// "\n camRot X: " << camRot.x << " Y: " << camRot.y << " Z: " << camRot.z <<
// "\n camRot2 X: " << camRot2.x << " Y: " << camRot2.y << " Z: " << camRot2.z;
//std::string str1 = oss1.str();
//log(str1);
log("Script cams rendered");
capture();
log("Screen captured");
//TODO pass this through
bool depthMap = true;
setCamParams();
//setColorBuffer();
int depthSize = setDepthBuffer();
if (depthMap) setStencilBuffer();
if (trafficSigns); //TODO
if (direction) setDirection();
if (reward) setReward();
if (throttle) setThrottle();
if (brake) setBrake();
if (steering) setSteering();
if (drivingMode); //TODO
if (!m_pObjDet) {
m_pObjDet.reset(new ObjectDetection());
m_pObjDet->initCollection(s_camParams.width, s_camParams.height, false, instance_index);
m_startIndex = instance_index;
}
if (depthSize != -1) {
FrameObjectInfo fObjInfo = m_pObjDet->generateMessage(depth_map, m_stencilBuffer);
m_pObjDet->exportDetections(fObjInfo);
m_pObjDet->exportImage(screenCapturer->pixels);
d["index"] = fObjInfo.instanceIdx;
//Create vehicles if it is a stationary scenario
createVehicles();
if (GENERATE_SECONDARY_PERSPECTIVES) {
generateSecondaryPerspectives();
}
//For testing to ensure secondary ownvehicle aligns with main perspective
//generateSecondaryPerspective(m_pObjDet->m_ownVehicleObj);
m_pObjDet->increaseIndex();
}
else {
log("ERROR: Depth buffer could not be properly set!!!!!!!!!!!!!!!!!!!!!!", true);
}
GAMEPLAY::SET_GAME_PAUSED(false);
GAMEPLAY::SET_TIME_SCALE(1.0f);
d.Accept(writer);
return buffer;
}
void Scenario::setRenderingCam(Vehicle v, int height, int length) {
Vector3 position;
Vector3 fVec, rVec, uVec;
Vector3 rotation = ENTITY::GET_ENTITY_ROTATION(v, 0);
ENTITY::GET_ENTITY_MATRIX(v, &fVec, &rVec, &uVec, &position);
Vector3 offset;
offset.x = 0;
offset.y = length / 2;
offset.z = height;
Vector3 offsetWorld = camToWorld(offset, fVec, rVec, uVec);
//Since it's offset need to subtract the cam position
offsetWorld.x -= s_camParams.pos.x;
offsetWorld.y -= s_camParams.pos.y;
offsetWorld.z -= s_camParams.pos.z;
GAMEPLAY::SET_TIME_SCALE(0.0f);
GAMEPLAY::SET_GAME_PAUSED(false);
GAMEPLAY::SET_TIME_SCALE(0.0f);
CAM::SET_CAM_COORD(camera, position.x + offsetWorld.x, position.y + offsetWorld.y, position.z + offsetWorld.z);
CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 0);
scriptWait(0);
GAMEPLAY::SET_GAME_PAUSED(true);
std::ostringstream oss;
oss << "EntityID/rotation/position: " << v << "\n" <<
position.x << ", " << position.y << ", " << position.z <<
"\n" << rotation.x << ", " << rotation.y << ", " << rotation.z <<
"\nOffset: " << offset.x << ", " << offset.y << ", " << offset.z <<
"\nOffsetworld: " << offsetWorld.x << ", " << offsetWorld.y << ", " << offsetWorld.z;
log(oss.str(), true);
}
void Scenario::capture() {
//Time synchronization seems to be correct with 2 render calls
CAM::RENDER_SCRIPT_CAMS(TRUE, FALSE, 0, FALSE, FALSE);
scriptWait(0);
CAM::RENDER_SCRIPT_CAMS(TRUE, FALSE, 0, FALSE, FALSE);
scriptWait(0);
CAM::RENDER_SCRIPT_CAMS(TRUE, FALSE, 0, FALSE, FALSE);
scriptWait(0);
screenCapturer->capture();
}
//Generate a secondary perspective for all nearby vehicles
void Scenario::generateSecondaryPerspectives() {
for (ObjEntity v : m_pObjDet->m_nearbyVehicles) {
if (VEHICLE::IS_THIS_MODEL_A_CAR(v.model)) {
generateSecondaryPerspective(v);
}
}
m_pObjDet->m_nearbyVehicles.clear();
}
void Scenario::generateSecondaryPerspective(ObjEntity vInfo) {
setRenderingCam(vInfo.entityID, vInfo.height, vInfo.length);
//GAMEPLAY::SET_GAME_PAUSED(true);
capture();
setCamParams();
setDepthBuffer();
setStencilBuffer();
FrameObjectInfo fObjInfo = m_pObjDet->generateMessage(depth_map, m_stencilBuffer, vInfo.entityID);
m_pObjDet->exportDetections(fObjInfo, &vInfo);
std::string filename = m_pObjDet->getStandardFilename("image_2", ".png");
m_pObjDet->exportImage(screenCapturer->pixels, filename);
//GAMEPLAY::SET_GAME_PAUSED(false);
}
void Scenario::setThrottle(){
d["throttle"] = getFloatValue(m_ownVehicle, 0x92C);
}
void Scenario::setBrake(){
d["brake"] = getFloatValue(m_ownVehicle, 0x930);
}
void Scenario::setSteering(){
d["steering"] = -getFloatValue(m_ownVehicle, 0x924) / 0.6981317008;
}
void Scenario::setDirection(){
int direction;
float distance;
Vehicle temp_vehicle;
Document::AllocatorType& allocator = d.GetAllocator();
PATHFIND::GENERATE_DIRECTIONS_TO_COORD(dir.x, dir.y, dir.z, TRUE, &direction, &temp_vehicle, &distance);
Value _direction(kArrayType);
_direction.PushBack(direction, allocator).PushBack(distance, allocator);
d["direction"] = _direction;
}
void Scenario::setReward() {
d["reward"] = rewarder->computeReward(m_ownVehicle);
}
static int bike_num = 0;
void Scenario::createVehicle(const char* model, float relativeForward, float relativeRight, float heading, int color, int color2) {
Hash vehicleHash = GAMEPLAY::GET_HASH_KEY(const_cast<char*>(model));
Vector3 pos;
pos.x = currentPos.x + currentForwardVector.x * relativeForward + currentRightVector.x * relativeRight;
pos.y = currentPos.y + currentForwardVector.y * relativeForward + currentRightVector.y * relativeRight;
pos.z = currentPos.z + currentForwardVector.z * relativeForward + currentRightVector.z * relativeRight;
STREAMING::REQUEST_MODEL(vehicleHash);
while (!STREAMING::HAS_MODEL_LOADED(vehicleHash)) WAIT(0);
Vehicle tempV = VEHICLE::CREATE_VEHICLE(vehicleHash, pos.x, pos.y, pos.z, heading, FALSE, FALSE);
WAIT(0);
if (color != -1) {
VEHICLE::SET_VEHICLE_COLOURS(tempV, color, color2);
}
VEHICLE::SET_VEHICLE_ON_GROUND_PROPERLY(tempV);
//if (VEHICLE::IS_THIS_MODEL_A_BICYCLE(vehicleHash) || VEHICLE::IS_THIS_MODEL_A_BIKE(vehicleHash)) {
// log("Trying to set ped on bike", true);
// Hash hash = 0x505603B9;// GAMEPLAY::GET_HASH_KEY(const_cast<char*>(model));
// STREAMING::REQUEST_MODEL(hash);
// Ped tempP = PED::CREATE_PED(4, hash, pos.x, pos.y, pos.z, heading, FALSE, FALSE);
// WAIT(0);
// if (bike_num == 0) {
// bike_num++;
// AI::TASK_ENTER_VEHICLE(tempP, tempV, 0, -1, 2.0f, 16, 0);
// }
// else {
// AI::TASK_VEHICLE_DRIVE_WANDER(tempP, tempV, 2.0f, 16777216);
// }
//}
ENTITY::SET_ENTITY_AS_NO_LONGER_NEEDED(&tempV);
}
void Scenario::createPed(int model, float relativeForward, float relativeRight, float heading, int task) {
//Ped hashes found at: https://www.se7ensins.com/forums/threads/request-pc-ped-hashes.1317848/
Hash hash = 0x505603B9;// GAMEPLAY::GET_HASH_KEY(const_cast<char*>(model));
Vector3 pos;
pos.x = currentPos.x + currentForwardVector.x * relativeForward + currentRightVector.x * relativeRight;
pos.y = currentPos.y + currentForwardVector.y * relativeForward + currentRightVector.y * relativeRight;
pos.z = currentPos.z + currentForwardVector.z * relativeForward + currentRightVector.z * relativeRight;
STREAMING::REQUEST_MODEL(hash);
while (!STREAMING::HAS_MODEL_LOADED(hash)) WAIT(0);
Ped temp = PED::CREATE_PED(4, hash, pos.x, pos.y, pos.z, heading, FALSE, FALSE);
WAIT(0);
AI::TASK_WANDER_STANDARD(ped, 10.0f, 10);
ENTITY::SET_ENTITY_AS_NO_LONGER_NEEDED(&temp);
}
void Scenario::createVehicles() {
setPosition();
if ((stationaryScene || TRUPERCEPT_SCENARIO) && !vehicles_created) {
log("Creating peds");
for (int i = 0; i < pedsToCreate.size(); i++) {
PedToCreate p = pedsToCreate[i];
createPed(p.model, p.forward, p.right, p.heading, i);
}
log("Creating vehicles");
for (int i = 0; i < vehiclesToCreate.size(); i++) {
VehicleToCreate v = vehiclesToCreate[i];
createVehicle(v.model.c_str(), v.forward, v.right, v.heading, v.color, v.color2);
}
vehicles_created = true;
}
}
//Saves the position and vectors of the capture vehicle
void Scenario::setPosition() {
//NOTE: The forward and right vectors are swapped (compared to native function labels) to keep consistency with coordinate system
ENTITY::GET_ENTITY_MATRIX(m_ownVehicle, ¤tForwardVector, ¤tRightVector, ¤tUpVector, ¤tPos); //Blue or red pill
}
//TODO Calls to export_get_color_buffer are causing GTA to crash
void Scenario::setColorBuffer() {
log("Before color buffer", true);
int size = export_get_color_buffer((void**)&color_buf);
log("After color buffer", true);
}
void Scenario::setStencilBuffer() {
log("About to get stencil buffer");
int size = export_get_stencil_buffer((void**)&m_stencilBuffer);
log("After getting stencil buffer");
}
int Scenario::setDepthBuffer(bool prevDepth) {
log("About to get depth buffer");
int size = export_get_depth_buffer((void**)&depth_map);
std::ostringstream oss;
oss << "Depth buffer size: " << size;
log(oss.str(), true);
log("After getting depth buffer");
return size;
}
void Scenario::drawBoxes(Vector3 BLL, Vector3 FUR, Vector3 dim, Vector3 upVector, Vector3 rightVector, Vector3 forwardVector, Vector3 position, int colour) {
//log("Inside draw boxes");
if (showBoxes) {
log("Inside show boxes");
Vector3 edge1 = BLL;
Vector3 edge2;
Vector3 edge3;
Vector3 edge4;
Vector3 edge5 = FUR;
Vector3 edge6;
Vector3 edge7;
Vector3 edge8;
int green = colour * 255;
int blue = abs(colour - 1) * 255;
edge2.x = edge1.x + 2 * dim.y*rightVector.x;
edge2.y = edge1.y + 2 * dim.y*rightVector.y;
edge2.z = edge1.z + 2 * dim.y*rightVector.z;
edge3.x = edge2.x + 2 * dim.z*upVector.x;
edge3.y = edge2.y + 2 * dim.z*upVector.y;
edge3.z = edge2.z + 2 * dim.z*upVector.z;
edge4.x = edge1.x + 2 * dim.z*upVector.x;
edge4.y = edge1.y + 2 * dim.z*upVector.y;
edge4.z = edge1.z + 2 * dim.z*upVector.z;
edge6.x = edge5.x - 2 * dim.y*rightVector.x;
edge6.y = edge5.y - 2 * dim.y*rightVector.y;
edge6.z = edge5.z - 2 * dim.y*rightVector.z;
edge7.x = edge6.x - 2 * dim.z*upVector.x;
edge7.y = edge6.y - 2 * dim.z*upVector.y;
edge7.z = edge6.z - 2 * dim.z*upVector.z;
edge8.x = edge5.x - 2 * dim.z*upVector.x;
edge8.y = edge5.y - 2 * dim.z*upVector.y;
edge8.z = edge5.z - 2 * dim.z*upVector.z;
GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge2.x, edge2.y, edge2.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge4.x, edge4.y, edge4.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge2.x, edge2.y, edge2.z, edge3.x, edge3.y, edge3.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge3.x, edge3.y, edge3.z, edge4.x, edge4.y, edge4.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge5.x, edge5.y, edge5.z, edge6.x, edge6.y, edge6.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge5.x, edge5.y, edge5.z, edge8.x, edge8.y, edge8.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge6.x, edge6.y, edge6.z, edge7.x, edge7.y, edge7.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge7.x, edge7.y, edge7.z, edge8.x, edge8.y, edge8.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge7.x, edge7.y, edge7.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge2.x, edge2.y, edge2.z, edge8.x, edge8.y, edge8.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge3.x, edge3.y, edge3.z, edge5.x, edge5.y, edge5.z, 0, green, blue, 200);
GRAPHICS::DRAW_LINE(edge4.x, edge4.y, edge4.z, edge6.x, edge6.y, edge6.z, 0, green, blue, 200);
WAIT(0);
}
}
void Scenario::setCamParams() {
//These values stay the same throughout a collection period
if (!s_camParams.init) {
s_camParams.nearClip = CAM::GET_CAM_NEAR_CLIP(camera);
s_camParams.farClip = CAM::GET_CAM_FAR_CLIP(camera);
s_camParams.fov = CAM::GET_CAM_FOV(camera);
s_camParams.ncHeight = 2 * s_camParams.nearClip * tan(s_camParams.fov / 2. * (PI / 180.)); // field of view is returned vertically
s_camParams.ncWidth = s_camParams.ncHeight * GRAPHICS::_GET_SCREEN_ASPECT_RATIO(false);
s_camParams.init = true;
if (m_recordScenario) {
float gameFC = CAM::GET_CAM_FAR_CLIP(camera);
std::ostringstream oss;
oss << "NC, FC (gameFC), FOV: " << s_camParams.nearClip << ", " << s_camParams.farClip << " (" << gameFC << "), " << s_camParams.fov;
std::string str = oss.str();
log(str, true);
}
}
//These values change frame to frame
s_camParams.theta = CAM::GET_CAM_ROT(camera, 0);
s_camParams.pos = CAM::GET_CAM_COORD(camera);
std::ostringstream oss1;
oss1 << "\ns_camParams.pos X: " << s_camParams.pos.x << " Y: " << s_camParams.pos.y << " Z: " << s_camParams.pos.z <<
"\nvehicle.pos X: " << currentPos.x << " Y: " << currentPos.y << " Z: " << currentPos.z <<
"\nfar: " << s_camParams.farClip << " nearClip: " << s_camParams.nearClip << " fov: " << s_camParams.fov <<
"\nrotation gameplay: " << s_camParams.theta.x << " Y: " << s_camParams.theta.y << " Z: " << s_camParams.theta.z <<
"\n AspectRatio: " << GRAPHICS::_GET_SCREEN_ASPECT_RATIO(false);
std::string str1 = oss1.str();
log(str1);
//For optimizing 3d to 2d and unit vector to 2d calculations
s_camParams.eigenPos = Eigen::Vector3f(s_camParams.pos.x, s_camParams.pos.y, s_camParams.pos.z);
s_camParams.eigenRot = Eigen::Vector3f(s_camParams.theta.x, s_camParams.theta.y, s_camParams.theta.z);
s_camParams.eigenTheta = (PI / 180.0) * s_camParams.eigenRot;
s_camParams.eigenCamDir = rotate(WORLD_NORTH, s_camParams.eigenTheta);
s_camParams.eigenCamUp = rotate(WORLD_UP, s_camParams.eigenTheta);
s_camParams.eigenCamEast = rotate(WORLD_EAST, s_camParams.eigenTheta);
s_camParams.eigenClipPlaneCenter = s_camParams.eigenPos + s_camParams.nearClip * s_camParams.eigenCamDir;
s_camParams.eigenCameraCenter = -s_camParams.nearClip * s_camParams.eigenCamDir;
//For measuring height of camera (LiDAR) to ground plane
/*float groundZ;
GAMEPLAY::GET_GROUND_Z_FOR_3D_COORD(s_camParams.pos.x, s_camParams.pos.y, s_camParams.pos.z, &(groundZ), 0);
std::ostringstream oss;
oss << "LiDAR height: " << s_camParams.pos.z - groundZ;
std::string str = oss.str();
log(str);*/
}