Update to new use rocketsim binds

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rlviser-py"
-version = "0.2.3"
+version = "0.3.0"
 edition = "2021"
 description = "Python implementation that manages a UDP connection to RLViser"
 license = "MIT"

pytest.py

@@ -12,7 +12,7 @@
 # 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)))
-arena.ball.set_state(rs.BallState(pos=rs.Vec(y=400, z=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))
 
 # Run for 3 seconds
@@ -25,7 +25,7 @@
  # Render the current game state
  pad_states = [pad.get_state().is_active for pad in arena.get_boost_pads()]
  car_data = [(car.id, car.team, car.get_config(), car.get_state()) for car in arena.get_cars()]
- vis.render(steps, arena.tick_rate, pad_states, arena.ball.get_state(), car_data)
+ vis.render(steps, arena.tick_rate, pad_states, arena.ball.get_state(), arena.ball.get_rot(), car_data)
 
  # sleep to simulate running real time (it will run a LOT after otherwise)
  time.sleep(max(0, starttime + steps / arena.tick_rate - time.time()))

src/bytes.rs

@@ -165,7 +165,6 @@ pub struct CarState {
  pub last_rel_dodge_torque: Vec3,
  pub jump_time: f32,
  pub flip_time: f32,
-
  pub is_flipping: bool,
  pub is_jumping: bool,
  pub air_time_since_jump: f32,
@@ -178,7 +177,7 @@ pub struct CarState {
  pub auto_flip_timer: f32,
  pub auto_flip_torque_scale: f32,
  pub has_world_contact: bool,
- pub contact_normal: Vec3,
+ pub world_contact_normal: Vec3,
  pub car_contact_id: u32,
  pub car_contact_cooldown_timer: f32,
  pub is_demoed: bool,
@@ -398,7 +397,7 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
  // 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]
- .copy_from_slice(&self.contact_normal.to_bytes());
+ .copy_from_slice(&self.world_contact_normal.to_bytes());
  // other_car_id: u32,
  bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9
  ..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9 + u32::NUM_BYTES]
@@ -695,7 +694,7 @@ impl FromBytesExact for CarState {
  ..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9],
  ),
  has_world_contact: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9] != 0,
- contact_normal: Vec3::from_bytes(
+ world_contact_normal: Vec3::from_bytes(
  &bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 8
  ..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9],
  ),

src/lib.rs

@@ -1,6 +1,5 @@
 mod bytes;
 mod gym;
-mod rocketsim;
 mod socket;
 
 use crate::{
@@ -137,14 +136,14 @@ fn render(
  tick_rate: f32,
  boost_pad_states: [bool; BOOST_PADS_LENGTH],
  ball: BallState,
- cars: Vec<(u32, u8, CarConfig, rocketsim::CarState)>,
+ ball_rot: [f32; 4],
+ cars: Vec<(u32, u8, CarConfig, CarState)>,
 ) {
  let game_state = GameState {
  tick_count,
  tick_rate,
  ball,
- // no way of getting rotation right now
- ball_rot: Quat::IDENTITY,
+ ball_rot: Quat::from_array(ball_rot),
  pads: BOOST_PAD_LOCATIONS
  .read()
  .unwrap()
@@ -165,7 +164,7 @@ fn render(
  id,
  team: Team::from_u8(team),
  config,
- state: state.into(),
+ state,
  })
  .collect(),
  };