Vehicle

from tdw.add_ons.vehicle import Vehicle

A vehicle is a driving agent such as a car, bus or truck. From this API, you can set the vehicles's speed (drive, turn, brake) and turn its motor on and off.

The vehicle's output data, including images, is stored in vehicle.dynamic.

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Class Variables

Variable	Type	Description	Value
LIBRARY_NAME	str	The vehicle's library file. You can override this to use a custom library (e.g. a local library).	"vehicles.json"

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Fields

• initial_position The initial position of the vehicle.

• dynamic The initial rotation of the vehicle in Euler angles.

• vehicle_id The ID of this vehicle.

• avatar_id The ID of the vehicle's avatar (camera). This is used internally for API calls.

• commands These commands will be appended to the commands of the next communicate() call.

• initialized If True, this module has been initialized.

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Functions

__init__

Vehicle()

Vehicle(vehicle_id=0, position=None, rotation=None, name="all_terrain_vehicle", forward_speed=30, reverse_speed=12, image_capture=True, image_passes=None)

Parameter	Type	Default	Description
vehicle_id	int	0	The ID of the vehicle.
position	POSITION	None	The position of the vehicle as an x, y, z dictionary or numpy array. If None, defaults to {"x": 0, "y": 0, "z": 0}.
rotation	ROTATION	None	The rotation of the vehicle in Euler angles (degrees) as an x, y, z dictionary or numpy array. If None, defaults to {"x": 0, "y": 0, "z": 0}.
name	str	"all_terrain_vehicle"	The name of the vehicle model.
forward_speed	float	30	Sets the vehicle's max forward speed.
reverse_speed	float	12	Sets the vehicle's max reverse speed.
image_capture	bool	True	If True, the vehicle will receive image and camera matrix data per communicate() call. Whether or not this is True, the vehicle will always render images in the simulation window.
image_passes	List[str]	None	A list of image passes that will be captured. Ignored if image_capture == False. If None, defaults to ["_img", "_id"].

get_initialization_commands

self.get_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

Returns: A list of commands that will initialize this add-on.

on_send

self.on_send(resp)

This is called within Controller.communicate(commands) after commands are sent to the build and a response is received.

Use this function to send commands to the build on the next Controller.communicate(commands) call, given the resp response. Any commands in the self.commands list will be sent on the next Controller.communicate(commands) call.

Parameter	Type	Default	Description
resp	List[bytes]		The response from the build.

before_send

self.before_send(commands)

This is called within Controller.communicate(commands) before sending commands to the build. By default, this function doesn't do anything.

Parameter	Type	Default	Description
commands	List[dict]		The commands that are about to be sent to the build.

get_early_initialization_commands

self.get_early_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

These commands are added to the list being sent on communicate() before any other commands, including those added by the user and by other add-ons.

Usually, you shouldn't override this function. It is useful for a small number of add-ons, such as loading screens, which should initialize before anything else.

Returns: A list of commands that will initialize this add-on.

set_drive

self.set_drive(drive)

Set the vehicle's drive force.

Parameter	Type	Default	Description
drive	float		The drive force as a float. Must be between -1.0 and 1.0.

set_turn

self.set_turn(turn)

Set the vehicle's turn force.

Parameter	Type	Default	Description
turn	float		The turn force as a float. Must be between -1.0 and 1.0.

set_brake

self.set_brake(brake)

Set the vehicle's brake force.

Parameter	Type	Default	Description
brake	float		The brake force as a float. Must be between -1.0 and 1.0.