Fix ramp rendering (#759)

* fix ramp rendering

* fix physics for ramp

* format

* fix test

* deprecate opendrive API as we now using SUMO netconverter

* format

metadrive/component/pgblock/pg_block.py

@@ -250,7 +250,6 @@ def create_in_world(self):
         for _from, to_dict in graph.items():
             for _to, lanes in to_dict.items():
                 for _id, lane in enumerate(lanes):
-
                     self._construct_lane(lane, (_from, _to, _id))
 
                     # choose_side is a two-elemental list, the first element is for left side,
@@ -278,24 +277,14 @@ def _construct_broken_line(self, lane, lateral, line_color, line_type):
                 )
                 self._node_path_list.extend(node_path_list)
 
-    def _construct_continuous_line(self, lane, lateral, line_color, line_type):
+    def _construct_continuous_line(self, points, line_color, line_type):
         """
         We process straight line to several pieces by default, which can be optimized through overriding this function
         Lateral: left[-1/2 * width] or right[1/2 * width]
         """
-        segment_num = int(lane.length / PGDrivableAreaProperty.LANE_SEGMENT_LENGTH)
-        if segment_num == 0:
-            start = lane.position(0, lateral)
-            end = lane.position(lane.length, lateral)
-            node_path_list = self._construct_lane_line_segment(start, end, line_color, line_type)
-            self._node_path_list.extend(node_path_list)
-        for segment in range(segment_num):
-            start = lane.position(PGDrivableAreaProperty.LANE_SEGMENT_LENGTH * segment, lateral)
-            if segment == segment_num - 1:
-                end = lane.position(lane.length, lateral)
-            else:
-                end = lane.position((segment + 1) * PGDrivableAreaProperty.LANE_SEGMENT_LENGTH, lateral)
-            node_path_list = self._construct_lane_line_segment(start, end, line_color, line_type)
+        for p_1_index, p_1 in enumerate(points[:-1]):
+            p_2 = points[p_1_index + 1]
+            node_path_list = self._construct_lane_line_segment(p_1, p_2, line_color, line_type)
             self._node_path_list.extend(node_path_list)
 
     def _generate_sidewalk_from_line(self, lane, sidewalk_height=None, lateral_direction=1):
@@ -345,16 +334,17 @@ def _construct_lane_line_in_block(self, lane, construct_left_right=(True, True))
         for idx, line_type, line_color, need, in zip([-1, 1], lane.line_types, lane.line_colors, construct_left_right):
             if not need:
                 continue
-            lateral = idx * lane.width_at(0) / 2
+            seg_len = PGDrivableAreaProperty.LANE_SEGMENT_LENGTH
+            lateral = idx * lane.width / 2
             if line_type == PGLineType.CONTINUOUS:
-                self._construct_continuous_line(lane, lateral, line_color, line_type)
+                self._construct_continuous_line(lane.get_polyline(seg_len, lateral=lateral), line_color, line_type)
             elif line_type == PGLineType.BROKEN:
                 self._construct_broken_line(lane, lateral, line_color, line_type)
             elif line_type == PGLineType.SIDE:
-                self._construct_continuous_line(lane, lateral, line_color, line_type)
+                self._construct_continuous_line(lane.get_polyline(seg_len, lateral=lateral), line_color, line_type)
                 self._generate_sidewalk_from_line(lane)
             elif line_type == PGLineType.GUARDRAIL:
-                self._construct_continuous_line(lane, lateral, line_color, line_type)
+                self._construct_continuous_line(lane.get_polyline(seg_len, lateral=lateral), line_color, line_type)
                 self._generate_sidewalk_from_line(
                     lane, sidewalk_height=PGDrivableAreaProperty.GUARDRAIL_HEIGHT, lateral_direction=idx
                 )

metadrive/component/road_network/node_road_network.py

@@ -300,10 +300,16 @@ def find_entry_exit():
         ret = {}
         for _from, _to_dict in self.graph.items():
             for _to, lanes in _to_dict.items():
-                for k, lane in enumerate(lanes):
-                    left_n = ["{}".format(l.index) for l in lanes[:k]]
-                    right_n = ["{}".format(l.index) for l in lanes[k + 1:]]
-                    ret["{}".format(lane.index)] = {
+                for k, lane, in enumerate(lanes):
+                    if _from == Decoration.start and _to == Decoration.end:
+                        left_n = []
+                        right_n = []
+                        id = "{}_decoration_{}".format(lane.index, k)
+                    else:
+                        left_n = ["{}".format(l.index) for l in lanes[:k]]
+                        right_n = ["{}".format(l.index) for l in lanes[k + 1:]]
+                        id = "{}".format(lane.index)
+                    ret[id] = {
                         SD.POLYLINE: lane.get_polyline(interval),
                         SD.POLYGON: lane.polygon,
                         # Convert to EdgeNetwork

metadrive/tests/test_export_record_scenario/test_connectivity.py

@@ -67,7 +67,10 @@ def test_search_path(render_export_env=False, render_load_env=False):
         edge_roadnet = copy.deepcopy(env.current_map.road_network)
         all_node_lanes = node_roadnet.get_all_lanes()
         all_edge_lanes = edge_roadnet.get_all_lanes()
-        diff = set(["{}".format(l.index) for l in all_node_lanes]) - set(["{}".format(l.index) for l in all_edge_lanes])
+        diff = (
+            set(["{}".format(l.index) if "decoration" not in l.index else "" for l in all_node_lanes]) -
+            set(["{}".format(l.index) if "decoration" not in l.index else "" for l in all_edge_lanes])
+        )
         assert len(diff) == 0
         nodes = node_roadnet.shortest_path('>', "8S0_0_")
         print(nodes)

metadrive/tests/test_functionality/test_load_carla_town.py → metadrive/tests/test_functionality/_test_load_carla_town.py

@@ -4,9 +4,13 @@
 from metadrive.engine.asset_loader import initialize_asset_loader
 from metadrive.tests.vis_block.vis_block_base import TestBlock
 from metadrive.utils.opendrive.map_load import load_opendrive_map
+"""
+AS we now add opendrive support through SUMO API, this test script is deprecated
 
+"""
 
-def test_load_carla_town():
+
+def _test_load_carla_town():
     """
     Test opendrive related feature
     Returns: None

metadrive/tests/vis_env/vis_metadrive_env.py

@@ -6,8 +6,8 @@
     env = MetaDriveEnv(
         {
             "num_scenarios": 1,
-            "traffic_density": 0,
-            "start_seed": 74,
+            "traffic_density": 0.1,
+            "start_seed": 0,
             # "_disable_detector_mask":True,
             # "debug_physics_world": True,
             "debug": True,
@@ -23,15 +23,15 @@
             # "debug_static_world": True,
             "manual_control": True,
             "use_render": True,
-            "use_mesh_terrain": False,
+            # "use_mesh_terrain": True,
             "full_size_mesh": True,
             "accident_prob": 0,
             "decision_repeat": 5,
             "daytime": "19:00",
             "interface_panel": [],
             "need_inverse_traffic": False,
             "norm_pixel": True,
-            "map": 1,
+            "map": "rrRRr",
             # "agent_policy": ExpertPolicy,
             "random_traffic": False,
             "map_region_size": 1024,
@@ -110,7 +110,7 @@ def lift_terrain_x():
 
     start = time.time()
 
-    o, _ = env.reset(seed=74)
+    o, _ = env.reset()
     env.engine.accept("~", env.engine.terrain.reload_terrain_shader)
     # if env.config["render_pipeline"]:
     # env.engine.accept("5", env.engine.render_pipeline.reload_shaders)