Mesh terrain (#535)

* allow mesh terrain

* done

* format

* update collision rule

* allow use mesh terrain

* mesh terrain test

* format

* add docstring

* fix bug

.gitignore

@@ -46,3 +46,4 @@
 
 **/tests/**/*.jpg
 **/tests/**/*.png
+/metadrive/engine/core/run_time_map_mesh.png

metadrive/component/map/base_map.py

@@ -253,7 +253,7 @@ def get_height_map(
                 cv2.fillPoly(mask, np.asarray([points]).astype(np.int32), color=[height])
             if need_scale:
                 # Define a kernel. A 3x3 rectangle kernel
-                kernel = np.ones((extension * pixels_per_meter + 1, extension * pixels_per_meter + 1), np.uint8)
+                kernel = np.ones(((extension + 1) * pixels_per_meter, (extension + 1) * pixels_per_meter), np.uint8)
 
                 # Apply dilation
                 mask = cv2.dilate(mask, kernel, iterations=1)

metadrive/component/sensors/rgb_camera.py

@@ -7,6 +7,9 @@
 
 
 class RGBCamera(BaseCamera):
+    """
+    Create a new RGBCamera
+    """
     # shape(dim_1, dim_2)
     BUFFER_W = 84  # dim 1
     BUFFER_H = 84  # dim 2

metadrive/constants.py

@@ -68,6 +68,7 @@ class TerminationState:
     MetaDriveType.LINE_BROKEN_SINGLE_WHITE: "green",
     MetaDriveType.LANE_SURFACE_STREET: "green",
     MetaDriveType.LANE_SURFACE_UNSTRUCTURE: "green",
+    MetaDriveType.LANE_BIKE_LANE: "green",
     MetaDriveType.VEHICLE: "red",
     MetaDriveType.GROUND: "yellow",
     MetaDriveType.TRAFFIC_OBJECT: "yellow",
@@ -144,7 +145,7 @@ def collision_rules(cls):
             (cls.Terrain, cls.Vehicle, True),
             (cls.Terrain, cls.ContinuousLaneLine, False),
             (cls.Terrain, cls.InvisibleWall, False),
-            (cls.Terrain, cls.Sidewalk, True),
+            (cls.Terrain, cls.Sidewalk, False),
             (cls.Terrain, cls.LidarBroadDetector, False),
             (cls.Terrain, cls.TrafficObject, True),
             (cls.Terrain, cls.TrafficParticipants, True),

metadrive/engine/base_engine.py

@@ -329,7 +329,8 @@ def process_memory():
         self.terrain.reset(center_p)
 
         # init shadow if required
-        if hasattr(self, "pssm") and self.pssm.buffer is None and self.global_config["show_terrain"]:
+        if hasattr(self, "pssm") and self.pssm.buffer is None and self.global_config["show_terrain"] \
+                and not self.global_config["debug_physics_world"]:
             self.pssm.init()
 
         # move skybox

metadrive/envs/base_env.py

@@ -196,9 +196,11 @@
 
     # ===== Mesh Terrain =====
     # road will have a marin whose width is determined by this value, unit: [m]
-    drivable_area_extension=6,
+    drivable_area_extension=7,
     # height scale for mountains, unit: [m]
-    height_scale=120,
+    height_scale=50,
+    # use plane collision or mesh collision
+    plane_terrain=True,
 
     # ===== Others =====
     # Force to generate objects in the left lane.

metadrive/tests/test_policy/test_expert_performance.py

@@ -1,4 +1,5 @@
 import time
+import pytest
 
 import numpy as np
 
@@ -56,11 +57,13 @@ def _evaluate(env_config, num_episode, has_traffic=True, need_on_same_lane=True)
     return ep_reward_mean, success_rate
 
 
-def test_expert_with_traffic(use_render=False):
+@pytest.mark.parametrize("plane", [True, False], ids=["plane", "mesh"])
+def test_expert_with_traffic(plane, use_render=False):
     ep_reward, success_rate = _evaluate(
         dict(
             num_scenarios=1,
             map="CCC",
+            plane_terrain=plane,
             start_seed=2,
             random_traffic=False,
             # debug_static_world=True,

metadrive/tests/test_policy/test_idm_policy.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from metadrive.component.vehicle.vehicle_type import DefaultVehicle
 from metadrive.engine.engine_utils import initialize_engine
@@ -27,8 +28,9 @@ def _create_vehicle():
     return v
 
 
-def test_idm_policy_briefly():
-    env = MetaDriveEnv()
+@pytest.mark.parametrize("plane_terrain", [True, False], ids=["plane", "mesh"])
+def test_idm_policy_briefly(plane_terrain):
+    env = MetaDriveEnv({"plane_terrain": plane_terrain})
     env.reset()
     try:
         vehicles = env.engine.traffic_manager.traffic_vehicles
@@ -52,9 +54,10 @@ def test_idm_policy_briefly():
         env.close()
 
 
-def test_idm_policy_is_moving(render=False, in_test=True):
+@pytest.mark.parametrize("plane_terrain", [True, False], ids=["plane", "mesh"])
+def test_idm_policy_is_moving(plane_terrain, render=False, in_test=True):
     # config = {"traffic_mode": "hybrid", "map": "SS", "traffic_density": 1.0}
-    config = {"traffic_mode": "respawn", "map": "SS", "traffic_density": 1.0}
+    config = {"plane_terrain": plane_terrain, "traffic_mode": "respawn", "map": "SS", "traffic_density": 1.0}
     if render:
         config.update({"use_render": True, "manual_control": True})
     env = MetaDriveEnv(config)
@@ -76,4 +79,4 @@ def test_idm_policy_is_moving(render=False, in_test=True):
 
 if __name__ == '__main__':
     # test_idm_policy_briefly()
-    test_idm_policy_is_moving(render=True, in_test=False)
+    test_idm_policy_is_moving(False, render=True, in_test=False)

metadrive/tests/vis_env/vis_metadrive_env.py

@@ -6,14 +6,14 @@
     env = MetaDriveEnv(
         {
             "num_scenarios": 10,
-            "traffic_density": 0.15,
-            "traffic_mode": "hybrid",
+            "traffic_density": 0,
             "start_seed": 74,
             # "_disable_detector_mask":True,
             # "debug_physics_world": True,
             "debug": True,
             # "global_light": False,
             # "debug_static_world": True,
+            "pstats": True,
             "static_traffic_object": False,
             "show_interface": True,
             "cull_scene": False,
@@ -25,6 +25,7 @@
             "random_agent_model": False,
             "manual_control": True,
             "use_render": True,
+            "plane_terrain": False,
             "accident_prob": 1,
             "decision_repeat": 5,
             "daytime": "19:00",
@@ -38,9 +39,10 @@
             "driving_reward": 1.0,
             # "pstats": True,
             "force_destroy": False,
+            # "show_terrain"
             # "show_skybox": False,
             "show_fps": False,
-            "render_pipeline": True,
+            "render_pipeline": False,
             # "camera_dist": 8,
             "window_size": (1200, 800),
             "camera_dist": 9,
@@ -49,7 +51,7 @@
             # "camera_smooth": False,
             # "camera_height": -1,
             "vehicle_config": {
-                "enable_reverse": False,
+                "enable_reverse": True,
                 # "vehicle_model": "xl",
                 # "rgb_camera": (1024, 1024),
                 # "spawn_velocity": [8.728615581032535, -0.24411703918728195],