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Update to newest rlviser
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@VirxEC
VirxEC committed Jun 10, 2023
1 parent 9e0e46c commit b4389df
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Showing 4 changed files with 95 additions and 81 deletions.
6 changes: 3 additions & 3 deletions Cargo.lock
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3 changes: 2 additions & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,12 +1,13 @@
[package]
name = "rlviser-py"
version = "0.1.1"
version = "0.2.0"
edition = "2021"
description = "Python implementation that manages a UDP connection to RLViser"
license = "MIT"
repository = "https://github.com/VirxEC/rlviser-py"
readme = "README.md"
keywords = ["rlviser", "rocket-league", "udp", "python", "rlbot"]
publish = false

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[lib]
Expand Down
137 changes: 72 additions & 65 deletions src/bytes.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ 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,
pub boost: f32,
Expand Down Expand Up @@ -257,76 +258,81 @@ impl ToBytesExact<{ Self::NUM_BYTES }> for CarState {
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES * 2]
.copy_from_slice(&self.flip_time.to_le_bytes());
// is_jumping: bool,
// is_flipping: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2]
.copy_from_slice(&(self.is_flipping as u8).to_le_bytes());
// is_jumping: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 2]
.copy_from_slice(&(self.is_jumping as u8).to_le_bytes());
// air_time_since_jump: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 3]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 3]
.copy_from_slice(&self.air_time_since_jump.to_le_bytes());
// boost: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 3
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 4]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 3
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 4]
.copy_from_slice(&self.boost.to_le_bytes());
// time_spent_boosting: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 4
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 5]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 4
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5]
.copy_from_slice(&self.time_spent_boosting.to_le_bytes());
// is_supersonic: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 5]
.copy_from_slice(&(self.is_supersonic as u8).to_le_bytes());
// supersonic_time: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 6]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 6]
.copy_from_slice(&self.supersonic_time.to_le_bytes());
// handbrake_val: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 6
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 7]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 6
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7]
.copy_from_slice(&self.handbrake_val.to_le_bytes());
// is_auto_flipping: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 7]
.copy_from_slice(&(self.is_auto_flipping as u8).to_le_bytes());
// auto_flip_timer: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 8]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8]
.copy_from_slice(&self.auto_flip_timer.to_le_bytes());
// auto_flip_torque_scale: f32,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 8
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 9]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9]
.copy_from_slice(&self.auto_flip_torque_scale.to_le_bytes());
// has_contact: bool,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 9
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9]
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9]
.copy_from_slice(&(self.has_contact as u8).to_le_bytes());
// contact_normal: Vec3,
bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9]
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());
// other_car_id: u32,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9 + u32::NUM_BYTES]
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]
.copy_from_slice(&self.other_car_id.to_le_bytes());
// cooldown_timer: f32,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 10 + u32::NUM_BYTES]
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES]
.copy_from_slice(&self.cooldown_timer.to_le_bytes());
// is_demoed: bool,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 10 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES]
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 10 + u32::NUM_BYTES]
.copy_from_slice(&(self.is_demoed as u8).to_le_bytes());
// demo_respawn_timer: f32,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 11 + u32::NUM_BYTES]
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 10 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES]
.copy_from_slice(&self.demo_respawn_timer.to_le_bytes());
// ball_hit_info: BallHitInfo,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 11 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 11 + u32::NUM_BYTES + BallHitInfo::NUM_BYTES]
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES + BallHitInfo::NUM_BYTES]
.copy_from_slice(&self.ball_hit_info.to_bytes());
// last_controls: CarControls,
bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 11 + u32::NUM_BYTES + BallHitInfo::NUM_BYTES..]
bytes
[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES + BallHitInfo::NUM_BYTES..]
.copy_from_slice(&self.last_controls.to_bytes());
bytes
}
Expand Down Expand Up @@ -537,7 +543,7 @@ impl FromBytesExact for CarControls {
impl FromBytesExact for CarState {
const NUM_BYTES: usize = Vec3::NUM_BYTES * 5
+ RotMat::NUM_BYTES
+ 9
+ 10
+ f32::NUM_BYTES * 11
+ u32::NUM_BYTES
+ BallHitInfo::NUM_BYTES
Expand Down Expand Up @@ -567,68 +573,69 @@ impl FromBytesExact for CarState {
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES * 2],
),
is_jumping: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES * 2] != 0,
is_flipping: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 4 + f32::NUM_BYTES * 2] != 0,
is_jumping: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2] != 0,
air_time_since_jump: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 3],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 2
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 3],
),
boost: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 3
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 4],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 3
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 4],
),
time_spent_boosting: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 4
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 5],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 4
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5],
),
is_supersonic: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 5 + f32::NUM_BYTES * 5] != 0,
is_supersonic: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5] != 0,
supersonic_time: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 6],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 6],
),
handbrake_val: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 7],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 5
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7],
),
is_auto_flipping: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 6 + f32::NUM_BYTES * 7] != 0,
is_auto_flipping: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7] != 0,
auto_flip_timer: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 6
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 8],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 6
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8],
),
auto_flip_torque_scale: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 9],
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 7
..Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9],
),
has_contact: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 7 + f32::NUM_BYTES * 9] != 0,
has_contact: bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9] != 0,
contact_normal: Vec3::from_bytes(
&bytes[Vec3::NUM_BYTES * 4 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9],
&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],
),
other_car_id: u32::from_bytes(
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 9 + u32::NUM_BYTES],
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 8
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9 + u32::NUM_BYTES],
),
cooldown_timer: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 8 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 10 + u32::NUM_BYTES],
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 8 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES],
),
is_demoed: bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 8 + f32::NUM_BYTES * 10 + u32::NUM_BYTES] != 0,
is_demoed: bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 10 + u32::NUM_BYTES] != 0,
demo_respawn_timer: f32::from_bytes(
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 9 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 11 + u32::NUM_BYTES],
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 9 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES],
),
ball_hit_info: BallHitInfo::from_bytes(
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 9 + f32::NUM_BYTES * 11 + u32::NUM_BYTES
&bytes[Vec3::NUM_BYTES * 5 + RotMat::NUM_BYTES + 10 + f32::NUM_BYTES * 11 + u32::NUM_BYTES
..Vec3::NUM_BYTES * 5
+ RotMat::NUM_BYTES
+ 9
+ 10
+ f32::NUM_BYTES * 11
+ u32::NUM_BYTES
+ BallHitInfo::NUM_BYTES],
),
last_controls: CarControls::from_bytes(
&bytes[Vec3::NUM_BYTES * 5
+ RotMat::NUM_BYTES
+ 9
+ 10
+ f32::NUM_BYTES * 11
+ u32::NUM_BYTES
+ BallHitInfo::NUM_BYTES..],
Expand Down
30 changes: 18 additions & 12 deletions src/lib.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,13 +7,16 @@ use crate::{
gym::GymState,
};
use bytes::{BallState, CarConfig, CarInfo, CarState, GameState, Team, WheelPairConfig};
use glam::{Mat3A, Quat, Vec3A, EulerRot};
use glam::{EulerRot, Mat3A, Quat, Vec3A, Vec3};
use gym::BOOST_PADS_LENGTH;
use pyo3::prelude::*;
use std::{sync::{
atomic::{AtomicU64, Ordering},
RwLock,
}, f32::consts::PI};
use std::{
f32::consts::PI,
sync::{
atomic::{AtomicU64, Ordering},
RwLock,
},
};

macro_rules! pynamedmodule {
(doc: $doc:literal, name: $name:tt, funcs: [$($func_name:path),*], classes: [$($class_name:ident),*]) => {
Expand Down Expand Up @@ -83,7 +86,12 @@ fn render_rlgym(gym_state: GymState) {
vel: gym_state.ball.linear_velocity.into(),
ang_vel: gym_state.ball.angular_velocity.into(),
},
ball_rot: Quat::from_array(gym_state.ball.quaternion),
ball_rot: {
// let (yaw, pitch, roll) = Quat::from_array(gym_state.ball.quaternion)
// .to_euler(EulerRot::ZYX);
// Quat::from_euler(EulerRot::XYZ, yaw, pitch, roll + PI)
Quat::from_array(gym_state.ball.quaternion) * Quat::from_axis_angle(Vec3::Y, PI) // * Quat::from_axis_angle(Vec3::Z, PI)
},
pads: BOOST_PAD_LOCATIONS
.read()
.unwrap()
Expand All @@ -104,17 +112,15 @@ fn render_rlgym(gym_state: GymState) {
.enumerate()
.map(|(id, player)| CarInfo {
id: id as u32 + 1,
team: if player.team_num < 0.5 {
Team::Blue
} else {
Team::Orange
},
team: if player.team_num < 0.5 { Team::Blue } else { Team::Orange },
state: CarState {
pos: player.car_data.position.into(),
vel: player.car_data.linear_velocity.into(),
ang_vel: player.car_data.angular_velocity.into(),
rot_mat: {
let (yaw, pitch, roll) = Quat::from_array(player.car_data.quaternion).conjugate().to_euler(EulerRot::ZYX);
let (yaw, pitch, roll) = Quat::from_array(player.car_data.quaternion)
.conjugate()
.to_euler(EulerRot::ZYX);
Mat3A::from_euler(EulerRot::XYZ, yaw, pitch, roll + PI)
},
..Default::default()
Expand Down

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