The map is loaded from a square RGB png image. Both dimensions of the map have to be powers of 2. I suggest 4096x4096 to have sufficient resolution.
This gives us three 8-bit channels to encode information.
BLUE CHANNEL: Blue is used to render the white markings on the road. Draw with a blue component from 0 to 255 to display a shade of white/gray on these pixels with 0 being black and 255 white.
RED CHANNEL: Every pixel with a larger than 0 red component is considered a penalty area. Driving into this area will incur a penalty equal to the value stored in the red channel. This way you can set penalties from 1 to 255.
GREEN CHANNEL: Not currently used, but will be used to draw and render obstacles and signs. The value can correspond to height and/or type of the entity.
Example: If you draw a purple pixel it will be rendered white according to the blue value and it will count as a penalty zone according to the red value.
- Put the map you want to run in
src/main/resources/assets/textures/<mapName>.png - Specify the
<mapName>you want to use insrc/main/java/sim/Sim.java - Run
src/main/java/main.java
There are a few more options like car start position that can be configured in Sim.java.
Currently the car can be controlled with WASD. In the future there will be an InputStream to control it.
Switch the cameras with Q or 1, 2 and 3: Bird's Eye (Top Down), Follow (3rd Person), Perspective (1st Person).
To train or validate a model you can enable or disable saving the screen output via the "start/stop recording" button in the info window.
While enabled, one screenshot per frame is saved to /src/main/resources/output/ with the filename corresponding to date and time.
Not implemented yet. In the future you will be able to send a control vector to the car to steer it, fully automating the validation and training of models.