void Replay::CarState::RecordFrame(const std::vector <float> & inputs, CarDynamics & car)
{
assert(inputbuffer.size() == CarInput::INVALID);
// record inputs, delta encoding
InputFrame newinputframe(frame);
for (unsigned i = 0; i < CarInput::INVALID; i++)
{
if (inputs[i] != inputbuffer[i])
{
inputbuffer[i] = inputs[i];
newinputframe.AddInput(i, inputs[i]);
}
}
if (newinputframe.GetNumInputs() > 0)
inputframes.push_back(newinputframe);
// record every 30th state, input frame
if (frame % 30 == 0)
{
std::ostringstream statestream;
joeserialize::BinaryOutputSerializer serialize_output(statestream);
car.Serialize(serialize_output);
stateframes.push_back(StateFrame(frame));
stateframes.back().SetBinaryStateData(statestream.str());
stateframes.back().SetInputSnapshot(inputs);
}
frame++;
}
void Replay::CarState::ProcessPlayStateFrame(const StateFrame & frame, CarDynamics & car)
{
// process input snapshot
for (unsigned i = 0; i < inputbuffer.size() && i < frame.GetInputSnapshot().size(); i++)
{
inputbuffer[i] = frame.GetInputSnapshot()[i];
}
// process binary car state
std::istringstream statestream(frame.GetBinaryStateData());
joeserialize::BinaryInputSerializer serialize_input(statestream);
car.Serialize(serialize_input);
}