Remove agent functor #74
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lioutasb
reviewed
Oct 21, 2024
lioutasb
approved these changes
Oct 24, 2024
Make sure agent type and names are copied
NPC controller
Add MeshGenerator and efficient rendering methods
…ivesim into remove-agent-functor
Fix rendering tests
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This is an experimental PR removing the agent functor construct and any dictionaries indexed by agent type. Instead, agent types will be represented as a list, with a tensor indicating which agent belongs to which type. For now, I only made the minimal changes required, leaving all the boiler plate in place. If we end up switching to this design, a lot of that code can be cleaned up.
This is obviously a breaking change, so I welcome any discussion of it. My sense is that splitting agent types like this was a design mistake borne out of anticipating much more flexibility regarding how we treat the different agent types. In all the existing use cases, it is both slow and clunky, and I don't see any real benefit to it.
The only reason to have this feature is in order to apply different kinematic models to different agent types, but I think we can accomplish this just as well with the anticipated CompoundKinematicModel class.