| #pragma once |
|
|
| #include "types.hpp" |
| #include <cmath> |
| #include <madrona/components.hpp> |
| #include <madrona/mw_gpu_entry.hpp> |
|
|
| namespace madrona_gpudrive { |
| namespace rasterizer { |
|
|
| |
| inline std::pair<int, int> toGridCoords( |
| const madrona::math::Vector2 &rel_pos, |
| float radius, |
| int resolution) |
| { |
| float scale_m = resolution / (2 * radius); |
| int x_grid = static_cast<int>((rel_pos.x + radius) * scale_m); |
| int y_grid = static_cast<int>((rel_pos.y + radius) * scale_m); |
| return { |
| std::min(std::max(0, x_grid), resolution - 1), |
| std::min(std::max(0, y_grid), resolution - 1) |
| }; |
| } |
|
|
| |
| inline void rasterizeRotatedRectangle( |
| BevObservations &grid, |
| const madrona::math::Vector2 ¢er, |
| float yaw, |
| float length, |
| float width, |
| size_t type, |
| float radius, |
| int resolution) |
| { |
| float half_w = width / 2.0f; |
| float half_l = length / 2.0f; |
|
|
| float scale_px = (2 * radius) / resolution; |
|
|
| auto [gx, gy] = toGridCoords(center, radius, resolution); |
|
|
| |
| float max_side = std::max(half_w, half_l); |
| int box_radius = static_cast<int>(std::ceil( |
| std::sqrt(2 * (max_side * max_side)) / scale_px)); |
| |
| float cos_yaw = std::cos(-yaw); |
| float sin_yaw = std::sin(-yaw); |
| |
| for (int dy = -box_radius; dy <= box_radius; dy++) { |
| for (int dx = -box_radius; dx <= box_radius; dx++) { |
| int x = gx + dx; |
| int y = gy + dy; |
|
|
| if (x < 0 || x >= resolution || y < 0 || y >= resolution) |
| continue; |
| |
| float px = x * scale_px - radius; |
| float py = y * scale_px - radius; |
|
|
| float local_dx = px - center.x; |
| float local_dy = py - center.y; |
| |
| float local_x = local_dx * cos_yaw - local_dy * sin_yaw; |
| float local_y = local_dx * sin_yaw + local_dy * cos_yaw; |
|
|
| constexpr float epsilon = 1e-3f; |
|
|
| if (std::abs(local_x) <= half_l + epsilon && |
| std::abs(local_y) <= half_w + epsilon) |
| { |
| grid.obs[y][x].type = type; |
| } |
| } |
| } |
| } |
| } |
| } |
