Fix files that were deleted.

smarts/core/physics/__init__.py

@@ -0,0 +1,21 @@
+# MIT License
+#
+# Copyright (C) 2023. Huawei Technologies Co., Ltd. All rights reserved.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.

smarts/core/physics/collider.py

@@ -0,0 +1,87 @@
+# MIT License
+#
+# Copyright (C) 2023. Huawei Technologies Co., Ltd. All rights reserved.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+
+from typing import Optional, Sequence, Tuple
+
+import numpy as np
+
+from smarts.core.coordinates import Dimensions, Pose
+
+
+class ColliderBase:
+    """The base collider"""
+
+    @property
+    def dimensions(self) -> Dimensions:
+        """The fitted front aligned dimensions of the chassis."""
+        raise NotImplementedError
+
+    @property
+    def contact_points(self) -> Sequence:
+        """The contact point of the chassis."""
+        raise NotImplementedError
+
+    @property
+    def speed(self) -> float:
+        """The speed of the chassis in the facing direction of the chassis."""
+        raise NotImplementedError
+
+    @speed.setter
+    def speed(self, speed: float):
+        """Apply GCD from front-end."""
+        raise NotImplementedError
+
+    @property
+    def pose(self) -> Pose:
+        """The pose of the chassis."""
+        raise NotImplementedError
+
+    def set_pose(self, pose: Pose):
+        """Use with caution since it disrupts the physics simulation. Sets the pose of the
+        chassis."""
+        raise NotImplementedError
+
+    @property
+    def velocity_vectors(self) -> Tuple[np.ndarray, np.ndarray]:
+        """Returns linear velocity vector in m/s and angular velocity in rad/sec."""
+        raise NotImplementedError
+
+    @property
+    def yaw_rate(self) -> float:
+        """The turning rate of the chassis in radians."""
+        raise NotImplementedError
+
+    def step(self, current_simulation_time):
+        """Update the chassis state."""
+        raise NotImplementedError
+
+    def state_override(
+        self,
+        dt: float,
+        force_pose: Pose,
+        linear_velocity: Optional[np.ndarray] = None,
+        angular_velocity: Optional[np.ndarray] = None,
+    ):
+        """Use with care!  In essence, this is tinkering with the physics of the world,
+        and may have unintended behavioral or performance consequences."""
+        raise NotImplementedError

smarts/core/tests/test_collision.py

@@ -53,7 +53,12 @@ def bullet_simulation(fixed_timestep_sec=time_step):
 
 
 def step_with_vehicle_commands(
-    bv: AckermannChassis, bullet_simulation: BulletSimulation, steps, throttle=0, brake=0, steering=0
+    bv: AckermannChassis,
+    bullet_simulation: BulletSimulation,
+    steps,
+    throttle=0,
+    brake=0,
+    steering=0,
 ):
     collisions = []
     for _ in range(steps):
@@ -63,7 +68,13 @@ def step_with_vehicle_commands(
     return collisions
 
 
-def step_with_pose_delta(bv: BoxChassis, bullet_simulation: BulletSimulation, steps, pose_delta: np.ndarray, speed: float):
+def step_with_pose_delta(
+    bv: BoxChassis,
+    bullet_simulation: BulletSimulation,
+    steps,
+    pose_delta: np.ndarray,
+    speed: float,
+):
     collisions = []
     for _ in range(steps):
         cur_pose = bv.pose
@@ -129,7 +140,9 @@ def test_collision_collide_with_standing_vehicle(bullet_simulation: BulletSimula
         dimensions=VEHICLE_CONFIGS["passenger"].dimensions,
         bullet_client=bullet_simulation.client,
     )
-    collisions = step_with_vehicle_commands(chassis, bullet_simulation, steps=1000, throttle=1, steering=0)
+    collisions = step_with_vehicle_commands(
+        chassis, bullet_simulation, steps=1000, throttle=1, steering=0
+    )
     collided_bullet_ids = set([c.bullet_id for c in collisions])
     GROUND_ID = 0
     assert len(collisions) > 0