compiler error fixes

Author: kevin-joseph-ai

src/knn.hpp

@@ -39,8 +39,7 @@ relativeObservation(const gpudrive::MapObservation &absoluteObservation,
 
   return gpudrive::MapObservation{
       .position = referenceRotation.inv()
-                      .rotateVec({relativePosition.x, relativePosition.y, relativePosition.z})
-                      .xyz(),
+                      .rotateVec({relativePosition.x, relativePosition.y, relativePosition.z}),
       .scale = absoluteObservation.scale,
       .heading =  gpudrive::utils::quatToYaw(referenceRotation.inv() * madrona::math::Quat::angleAxis(absoluteObservation.heading,madrona::math::up)),
       .type = absoluteObservation.type};

src/level_gen.cpp

@@ -174,7 +174,8 @@ static Entity makeRoadEdge(Engine &ctx, const MapRoad &roadInit, CountT j) {
     // Z rotation (pitch)
     float horizontalDist = sqrt(dx*dx + dy*dy);
     float pitchAngle = atan2(dz, horizontalDist);
-    Vector3 pitchAxis = Vector3::cross(Vector3{dx/horizontalDist, dy/horizontalDist, 0}, madrona::math::up);
+    Vector3 horizontalDir{dx/horizontalDist, dy/horizontalDist, 0};
+    Vector3 pitchAxis = horizontalDir.cross(madrona::math::up);
     auto pitchRot = Quat::angleAxis(pitchAngle, pitchAxis);
 
     // Combined rotation

src/sim.cpp

@@ -163,8 +163,8 @@ inline void collectSelfObsSystem(Engine &ctx,
     auto &self_obs = ctx.get<SelfObservation>(agent_iface.e);
     self_obs.speed = vel.linear.length();
     self_obs.vehicle_size = size;
-    auto goalPos = goal.position - pos.xy();
-    self_obs.goal.position = rot.inv().rotateVec({goalPos.x, goalPos.y, 0}).xy();
+    auto goalPos = goal.position - pos;
+    self_obs.goal.position = rot.inv().rotateVec({goalPos.x, goalPos.y, goalPos.z});
 
     auto hasCollided = collisionEvent.hasCollided.load_relaxed();
     self_obs.collisionState = hasCollided ? 1.f : 0.f;
@@ -231,13 +231,13 @@ inline void collectMapObservationsSystem(Engine &ctx,
     const auto alg = ctx.data().params.roadObservationAlgorithm;
     if (alg == FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering) {
         selectKNearestRoadEntities<consts::kMaxAgentMapObservationsCount>(
-            ctx, rot, pos.xy(), map_obs.obs);
+            ctx, rot, pos, map_obs.obs);
         return;
     }
 
     assert(alg == FindRoadObservationsWith::AllEntitiesWithRadiusFiltering);
 
-    utils::ReferenceFrame referenceFrame(pos.xy(), rot);
+    utils::ReferenceFrame referenceFrame(pos, rot);
     CountT arrIndex = 0; CountT roadIdx = 0;
     while(roadIdx < ctx.data().numRoads && arrIndex < consts::kMaxAgentMapObservationsCount) {
         Entity road = ctx.data().roads[roadIdx++];
@@ -452,13 +452,13 @@ inline void rewardSystem(Engine &ctx,
     const auto &rewardType = ctx.data().params.rewardParams.rewardType;
     if(rewardType == RewardType::DistanceBased)
     {
-        float dist = (position.xy() - goal.position).length();
+        float dist = (position - goal.position).length();
         float reward = -dist;
         out_reward.v = reward;
     }
     else if(rewardType == RewardType::OnGoalAchieved)
     {
-        float dist = (position.xy() - goal.position).length();
+        float dist = (position - goal.position).length();
         float reward = (dist < ctx.data().params.rewardParams.distanceToGoalThreshold) ? 1.f : 0.f;
         out_reward.v = reward;
     }
@@ -502,7 +502,7 @@ inline void doneSystem(Engine &ctx,
     // An agent can be done early if it reaches the goal
     if (done.v != 1 || info.reachedGoal != 1)
     {
-        float dist = (position.xy() - goal.position).length();
+        float dist = (position - goal.position).length();
         if (dist < ctx.data().params.rewardParams.distanceToGoalThreshold)
         {
             done.v = 1;

src/utils.hpp

@@ -26,7 +26,7 @@ inline float quatToYaw(madrona::base::Rotation q) {
 
 class ReferenceFrame {
 public:
-  ReferenceFrame(const madrona::math::Vector2 &position,
+  ReferenceFrame(const madrona::math::Vector3 &position,
                  const madrona::base::Rotation &rotation)
       : referenceRotation(rotation), referencePosition(position) {}
 
@@ -47,20 +47,19 @@ class ReferenceFrame {
   }
 
 private:
-  madrona::math::Vector2
+  madrona::math::Vector3
   relative(const madrona::math::Vector3 &absolutePos) const {
-    auto relativePosition = absolutePos.xy() - referencePosition;
+    auto relativePosition = absolutePos - referencePosition;
 
     return referenceRotation.inv()
-        .rotateVec({relativePosition.x, relativePosition.y, 0})
-        .xy();
+        .rotateVec({relativePosition.x, relativePosition.y, relativePosition.z});
   }
 
   float relative(const madrona::base::Rotation &absoluteRot) const {
     return gpudrive::utils::quatToYaw(referenceRotation.inv() * absoluteRot);
   }
 
-  madrona::math::Vector2 referencePosition;
+  madrona::math::Vector3 referencePosition;
   madrona::base::Rotation referenceRotation;
 };
 }}