Fix contact bug (#574)

* fix-contact-bug * engine core * fix drawer * format
metadriverse · Dec 7, 2023 · b8a66c9 · b8a66c9
1 parent 73187f6
commit b8a66c9
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Showing 5 changed files with 22 additions and 14 deletions.
diff --git a/metadrive/component/vehicle/base_vehicle.py b/metadrive/component/vehicle/base_vehicle.py
@@ -772,14 +772,15 @@ def _state_check(self):
 
         # only for visualization detection
         if self.render:
+            debug_static_world = self.engine.global_config["debug_static_world"] and self.engine.global_config["debug"]
             res = rect_region_detection(
                 self.engine,
                 self.position,
                 np.rad2deg(self.heading_theta),
                 self.LENGTH,
                 self.WIDTH,
                 CollisionGroup.LaneSurface,
-                in_static_world=False
+                in_static_world=not debug_static_world
             )
             if not res.hasHit():
                 contacts.add(MetaDriveType.GROUND)

diff --git a/metadrive/engine/core/draw.py b/metadrive/engine/core/draw.py
@@ -1,6 +1,6 @@
 from direct.directtools.DirectGeometry import LineNodePath
 from metadrive.engine.asset_loader import AssetLoader
-from panda3d.core import VBase4, NodePath
+from panda3d.core import VBase4, NodePath, Material
 from metadrive.constants import CamMask
 from panda3d.core import LVecBase4f
 
@@ -30,15 +30,15 @@ def draw_lines(self, lineList, colorList=None):
         self.create()
 
 
-class ColorSphereNodePath:
+class ColorSphereNodePath(NodePath):
     def __init__(self, parent=None, scale=1):
+        super(ColorSphereNodePath, self).__init__("Point Debugger")
         scale /= 10
         from metadrive.engine.engine_utils import get_engine
         self.scale = scale
         self.engine = get_engine()
-        self.origin = NodePath("Point Debugger")
-        self.origin.hide(CamMask.Shadow)
-        self.origin.reparentTo(self.engine.render if parent is None else parent)
+        self.hide(CamMask.Shadow)
+        self.reparentTo(self.engine.render if parent is None else parent)
         self._existing_points = []
         self._dying_points = []
 
@@ -60,10 +60,16 @@ def draw_points(self, points, colors=None):
                 model = self.engine.loader.loadModel(AssetLoader.file_path("models", "sphere.egg"))
                 model.setScale(self.scale)
                 model.reparentTo(np)
+            material = Material()
             if colors:
-                np.setColor(LVecBase4f(*colors[k]))
+                material.setBaseColor(LVecBase4f(*colors[k]))
+            else:
+                material.setBaseColor(LVecBase4f(1, 1, 1, 1))
+            material.setShininess(64)
+            # material.setEmission((1, 1, 1, 1))
+            np.setMaterial(material, True)
             np.setPos(*point)
-            np.reparentTo(self.origin)
+            np.reparentTo(self)
             self._existing_points.append(np)
 
     def reset(self):

diff --git a/metadrive/engine/core/engine_core.py b/metadrive/engine/core/engine_core.py
@@ -287,8 +287,8 @@ def __init__(self, global_config):
                     use_occlusion_maps=False
                 )
                 self.pbrpipe.render_node = self.pbr_render
-                self.pbrpipe.render_node.set_antialias(AntialiasAttrib.M_auto)
-                self.pbrpipe._recompile_pbr()
+                # self.pbrpipe.render_node.set_antialias(AntialiasAttrib.M_auto)
+                # self.pbrpipe._recompile_pbr()
                 # self.pbrpipe.manager.cleanup()
                 #
                 # # filter

diff --git a/metadrive/tests/test_sensors/test_main_camera.py b/metadrive/tests/test_sensors/test_main_camera.py
@@ -42,6 +42,7 @@ def test_main_camera(config, render=False):
         start = time.time()
         for i in range(1, 10):
             o, r, tm, tc, info = env.step([0, 1])
+            assert "LANE_SURFACE_STREET" in env.vehicle.contact_results
             assert env.observation_space.contains(o)
             # Reverse
             assert o["image"].shape == (config["height"], config["width"], 3, config["stack_size"])

diff --git a/metadrive/tests/vis_env/vis_metadrive_env.py b/metadrive/tests/vis_env/vis_metadrive_env.py
@@ -10,16 +10,16 @@
             "start_seed": 74,
             # "_disable_detector_mask":True,
             # "debug_physics_world": True,
-            "debug": True,
+            # "debug": True,
             # "global_light": False,
-            "debug_static_world": True,
+            # "debug_static_world": True,
             "static_traffic_object": False,
             "show_interface": True,
             "random_agent_model": True,
             "random_spawn_lane_index": False,
             "random_lane_width": False,
             # "image_observation": True,
-            "show_coordinates": True,
+            # "show_coordinates": True,
             # "debug_static_world": True,
             "manual_control": True,
             "use_render": True,
@@ -31,7 +31,7 @@
             "interface_panel": [],
             "need_inverse_traffic": False,
             "norm_pixel": True,
-            "map": 3,
+            "map": 1,
             # "agent_policy": ExpertPolicy,
             "random_traffic": False,
             "map_region_size": 1024,