Merge pull request #319 from Kinvert/whisker_racer_fixes2

Whisker Racer Leaving Track and Mini Map

Author: jsuarez5341

pufferlib/ocean/whisker_racer/whisker_racer.h

@@ -242,10 +242,10 @@ void reset_round(WhiskerRacer* env) {
 }
 
 void c_reset(WhiskerRacer* env) {
+    compute_observations(env);
     env->score = 0;
     reset_round(env);
     env->tick = 0;
-    compute_observations(env);
 }
 
 // Line segment intersection helper function
@@ -354,6 +354,13 @@ void calc_whisker_lengths(WhiskerRacer* env) {
             c_reset(env);
         }
     }
+
+    if (*lengths[0] >= 0.99f && *lengths[1] >= 0.99f) { // Car probably left the track
+        for (int j = 0; j < 2; j++) *lengths[j] = 0.0f;
+        env->terminals[0] = 1;
+        add_log(env);
+        c_reset(env);
+    }
 }
 
 void update_radial_progress(WhiskerRacer* env) {
@@ -755,6 +762,7 @@ void Mode7(WhiskerRacer* env, RenderTexture2D mode7RenderTexture) {
     int height = env->height;
     int width = env->width;
     float inv_width = env->inv_width;
+    float inv_height = env->inv_height;
 
     int horizon = height / 2;
 
@@ -766,6 +774,8 @@ void Mode7(WhiskerRacer* env, RenderTexture2D mode7RenderTexture) {
 
     float height9 = 9.0f * height;
 
+    DrawRectangle(0, horizon, width, height-horizon, DARKGREEN);
+
     for (int screenY = horizon; screenY < height; screenY += 3) {
         float row = (float)(screenY - horizon);
 
@@ -798,6 +808,33 @@ void Mode7(WhiskerRacer* env, RenderTexture2D mode7RenderTexture) {
     UnloadImageColors(pixels);
     UnloadImage(sceneImage);
 
+    int minimap_width = width * 0.333f;
+    int minimap_height = height * 0.333f;
+    int minimap_x = width - minimap_width;
+    int minimap_y = 0;
+
+    DrawTexturePro(
+        scene,
+        (Rectangle){0, 0, width, -height},
+        (Rectangle){minimap_x, minimap_y, minimap_width, minimap_height},
+        (Vector2){0, 0},
+        0,
+        WHITE
+    );
+
+    float minimap_puffer_size = 8.0f;
+    float minimap_px = minimap_x + (env->px * inv_width) * minimap_width;
+    float minimap_py = minimap_y + ((height - env->py) * inv_height) * minimap_height;
+
+    DrawTexturePro(
+        env->puffer,
+        (Rectangle){0, 0, 128, 128},
+        (Rectangle){minimap_px, minimap_py, minimap_puffer_size, minimap_puffer_size},
+        (Vector2){minimap_puffer_size / 2.0f, minimap_puffer_size / 2.0f},
+        (-env->ang * 180.0f / PI) - 10,
+        WHITE
+    );
+
     EndDrawing();
 }
 
@@ -866,7 +903,6 @@ void c_render(WhiskerRacer* env) {
     }
 
     Vector2* center_points = malloc(sizeof(Vector2) * (env->track.total_points + 3));
-    //center_points[0] = (Vector2){SCREEN_WIDTH*0.5f, SCREEN_HEIGHT*0.5f};
     for (int i = 0; i < env->track.total_points; i++) {
         center_points[i] = env->track.centerline[i];
         center_points[i].y = env->height - center_points[i].y;