Scenario.cpp

#include "Scenario.h"
#include "lib/utils.h"
#include "lib/rapidjson/writer.h"
#include "Rewarders\GeneralRewarder.h"
#include "Rewarders\LaneRewarder.h"
#include "Rewarders\SpeedRewarder.h"
#include "defaults.h"
#include <time.h>

char* Scenario::weatherList[14] = { "CLEAR", "EXTRASUNNY", "CLOUDS", "OVERCAST", "RAIN", "CLEARING", "THUNDER", "SMOG", "FOGGY", "XMAS", "SNOWLIGHT", "BLIZZARD", "NEUTRAL", "SNOW" };
char* Scenario::vehicleList[3] = { "blista", "voltic", "packer" };

void Scenario::parseScenarioConfig(const Value& sc, bool setDefaults) {
	const Value& location = sc["location"];
	const Value& destination = sc["destination"];
	const Value& time = sc["time"];
	const Value& weather = sc["weather"];
	const Value& vehicle = sc["vehicle"];
	const Value& drivingMode = sc["drivingMode"];
	
	if (!sc["wander"].IsNull()) wander = sc["wander"].GetBool();
	else if (setDefaults) wander = _WANDER_;

	if (location.IsArray()) {
		if (!location[0].IsNull()) x = location[0].GetFloat();
		else if (setDefaults) x = 5000 * ((float)rand() / RAND_MAX) - 2500;

		if (!location[1].IsNull()) y = location[1].GetFloat(); 
		else if (setDefaults) y = 8000 * ((float)rand() / RAND_MAX) - 2000;
	}
	else if (setDefaults) {
		x = 5000 * ((float)rand() / RAND_MAX) - 2500;
		y = 8000 * ((float)rand() / RAND_MAX) - 2000;
	}

	if (destination.IsArray()) {
		if (!destination[0].IsNull()) x2 = destination[0].GetFloat();
		else if (setDefaults) x2 = 5000 * ((float)rand() / RAND_MAX) - 2500;

		if (!destination[1].IsNull()) y2 = destination[1].GetFloat();
		else if (setDefaults) y2 = 8000 * ((float)rand() / RAND_MAX) - 2000;
	}
	else if (setDefaults) {
		x2 = 5000 * ((float)rand() / RAND_MAX) - 2500;
		y2 = 8000 * ((float)rand() / RAND_MAX) - 2000;
	}

	if (time.IsArray()) {
		if (!time[0].IsNull()) hour = time[0].GetInt();
		else if (setDefaults) hour = rand() % 24;

		if (!time[1].IsNull()) minute = time[1].GetInt();
		else if (setDefaults) minute = rand() % 60;
	}
	else if (setDefaults) {
		hour = rand() % 24;
		minute = rand() % 60;
	}

	if (!weather.IsNull()) _weather = weather.GetString();
	else if (setDefaults) _weather = weatherList[rand() % 14];

	if (!vehicle.IsNull()) _vehicle = vehicle.GetString();
	else if (setDefaults) _vehicle = vehicleList[rand() % 3];

	if (drivingMode.IsArray()) {
		if (!drivingMode[0].IsNull()) _drivingMode = drivingMode[0].GetInt();
		else if (setDefaults)  _drivingMode = rand() % 4294967296;
		if (!drivingMode[1].IsNull()) _setSpeed = drivingMode[1].GetFloat(); 
		else if (setDefaults) _setSpeed = 1.0*(rand() % 20);
	}
	else if (setDefaults) {
		_drivingMode = -1;
	}
}

void Scenario::parseDatasetConfig(const Value& dc, bool setDefaults) {
	if (!dc["rate"].IsNull()) rate = dc["rate"].GetInt();
	else if (setDefaults) rate = _RATE_;
	
	if (!dc["frame"].IsNull()) {
		if (!dc["frame"][0].IsNull()) width = dc["frame"][0].GetInt();
		else if (setDefaults) width = _WIDTH_;

		if (!dc["frame"][1].IsNull()) height = dc["frame"][1].GetInt();
		else if (setDefaults) height = _HEIGHT_;
	}
	else if (setDefaults) {
		width = _WIDTH_;
		height = _HEIGHT_;
	}	

	if (!dc["vehicles"].IsNull()) vehicles = dc["vehicles"].GetBool();
	else if (setDefaults) vehicles = _VEHICLES_;

	if (!dc["peds"].IsNull()) peds = dc["peds"].GetBool();
	else if (setDefaults) peds = _PEDS_;

	if (!dc["trafficSigns"].IsNull()) trafficSigns = dc["trafficSigns"].GetBool();
	else if (setDefaults) trafficSigns = _TRAFFIC_SIGNS_;

	if (!dc["direction"].IsNull()) direction = dc["direction"].GetBool();
	else if (setDefaults) direction = _DIRECTION_;

	if (dc["reward"].IsArray()) {
		if (dc["reward"][0].IsFloat() && dc["reward"][1].IsFloat()) {
			rewarder = new GeneralRewarder((char*)(GetCurrentModulePath() + "paths.xml").c_str(), dc["reward"][0].GetFloat(), dc["reward"][1].GetFloat());
			reward = true;
		}
		else if (setDefaults) reward = _REWARD_;
	}
	else if (setDefaults) reward = _REWARD_;

	if (!dc["throttle"].IsNull()) throttle = dc["throttle"].GetBool();
	else if (setDefaults) throttle = _THROTTLE_;
	if (!dc["brake"].IsNull()) brake = dc["brake"].GetBool();
	else if (setDefaults) brake = _BRAKE_;
	if (!dc["steering"].IsNull()) steering = dc["steering"].GetBool();
	else if (setDefaults) steering = _STEERING_;
	if (!dc["speed"].IsNull()) speed = dc["speed"].GetBool();
	else if (setDefaults) speed = _SPEED_;
	if (!dc["yawRate"].IsNull()) yawRate = dc["yawRate"].GetBool();
	else if (setDefaults) yawRate = _YAW_RATE_;
	if (!dc["drivingMode"].IsNull()) drivingMode = dc["drivingMode"].GetBool();
	else if (setDefaults) drivingMode = _DRIVING_MODE_;
	if (!dc["location"].IsNull()) location = dc["location"].GetBool();
	else if (setDefaults) location = _LOCATION_;
	if (!dc["time"].IsNull()) time = dc["time"].GetBool();
	else if (setDefaults) time = _TIME_;

	//Create JSON DOM
	d.SetObject();
	Document::AllocatorType& allocator = d.GetAllocator();
	Value a(kArrayType);

	if (vehicles) d.AddMember("vehicles", a, allocator);
	if (peds) d.AddMember("peds", a, allocator);
	if (trafficSigns) d.AddMember("trafficSigns", a, allocator);
	if (direction) d.AddMember("direction", a, allocator);
	if (reward) d.AddMember("reward", 0.0, allocator);
	if (throttle) d.AddMember("throttle", 0.0, allocator);
	if (brake) d.AddMember("brake", 0.0, allocator);
	if (steering) d.AddMember("steering", 0.0, allocator);
	if (speed) d.AddMember("speed", 0.0, allocator);
	if (yawRate) d.AddMember("yawRate", 0.0, allocator);
	if (drivingMode) d.AddMember("drivingMode", 0, allocator);
	if (location) d.AddMember("location", a, allocator);
	if (time) d.AddMember("time", 0, allocator);

	screenCapturer = new ScreenCapturer(width, height);
}

void Scenario::buildScenario() {
	Vector3 pos, rotation;
	Hash vehicleHash;
	float heading, heading2;

	GAMEPLAY::SET_RANDOM_SEED(std::time(NULL));
	while (!PATHFIND::_0xF7B79A50B905A30D(-8192.0f, 8192.0f, -8192.0f, 8192.0f)) WAIT(0);
	PATHFIND::GET_CLOSEST_VEHICLE_NODE_WITH_HEADING(x, y, 0, &pos, &heading, 0, 0, 0);
	PATHFIND::GET_CLOSEST_VEHICLE_NODE_WITH_HEADING(x2, y2, 0, &dest, &heading2, 0, 0, 0);

	ENTITY::DELETE_ENTITY(&vehicle);
	vehicleHash = GAMEPLAY::GET_HASH_KEY((char*)_vehicle);
	STREAMING::REQUEST_MODEL(vehicleHash);
	while (!STREAMING::HAS_MODEL_LOADED(vehicleHash)) WAIT(0);
	while (!ENTITY::DOES_ENTITY_EXIST(vehicle)) {
		vehicle = VEHICLE::CREATE_VEHICLE(vehicleHash, pos.x, pos.y, pos.z, heading, FALSE, FALSE);
		WAIT(0);
	}
	VEHICLE::SET_VEHICLE_ON_GROUND_PROPERLY(vehicle);

	while (!ENTITY::DOES_ENTITY_EXIST(ped)) {
		ped = PLAYER::PLAYER_PED_ID();
		WAIT(0);
	}

	player = PLAYER::PLAYER_ID();
	PLAYER::START_PLAYER_TELEPORT(player, pos.x, pos.y, pos.z, heading, 0, 0, 0);
	while (PLAYER::IS_PLAYER_TELEPORT_ACTIVE()) WAIT(0);

	PED::SET_PED_INTO_VEHICLE(ped, vehicle, -1);
	STREAMING::SET_MODEL_AS_NO_LONGER_NEEDED(vehicleHash);

	TIME::SET_CLOCK_TIME(hour, minute, 0);

	GAMEPLAY::SET_WEATHER_TYPE_NOW_PERSIST((char*)_weather);

	rotation = ENTITY::GET_ENTITY_ROTATION(vehicle, 1);
	CAM::DESTROY_ALL_CAMS(TRUE);
	camera = CAM::CREATE_CAM("DEFAULT_SCRIPTED_CAMERA", TRUE);
	if (strcmp(_vehicle, "packer") == 0) CAM::ATTACH_CAM_TO_ENTITY(camera, vehicle, 0, 2.35, 1.7, TRUE);
	else CAM::ATTACH_CAM_TO_ENTITY(camera, vehicle, 0, 0.5, 0.8, TRUE);
	CAM::SET_CAM_FOV(camera, 60);
	CAM::SET_CAM_ACTIVE(camera, TRUE);
	CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 1);
	CAM::SET_CAM_INHERIT_ROLL_VEHICLE(camera, TRUE);
	CAM::RENDER_SCRIPT_CAMS(TRUE, FALSE, 0, TRUE, TRUE);

	AI::CLEAR_PED_TASKS(ped);
	if (!wander && _drivingMode >= 0) {
		float blipRadius = 20.0;
		destBlip = UI::ADD_BLIP_FOR_RADIUS(dest.x, dest.y, dest.z, blipRadius);
		UI::SET_BLIP_COLOUR(destBlip, 27);
		UI::SET_BLIP_ROUTE(destBlip, true);
		UI::SET_BLIP_ROUTE_COLOUR(destBlip, 27);
		AI::TASK_VEHICLE_DRIVE_TO_COORD_LONGRANGE(ped, vehicle, dest.x, dest.y, dest.z, _setSpeed, _drivingMode, blipRadius);
	}
	else if (_drivingMode >= 0) AI::TASK_VEHICLE_DRIVE_WANDER(ped, vehicle, _setSpeed, _drivingMode);
}

void Scenario::start(const Value& sc, const Value& dc) {
	if (running) return;

	//Parse options
	srand(std::time(NULL));
	parseScenarioConfig(sc, true);
	parseDatasetConfig(dc, true);

	//Build scenario
	buildScenario();

	running = true;
	lastSafetyCheck = std::clock();
}

void Scenario::config(const Value& sc, const Value& dc) {
	if (!running) return;

	running = false;

	//Parse options
	srand(std::time(NULL));
	parseScenarioConfig(sc, false);
	parseDatasetConfig(dc, false);

	//Build scenario
	buildScenario();

	running = true;
	lastSafetyCheck = std::clock();
}

void Scenario::run() {
	float count = 0;
	if (running) {
		std::clock_t now = std::clock();

		Vector3 rotation = ENTITY::GET_ENTITY_ROTATION(vehicle, 1);
		CAM::SET_CAM_ROT(camera, rotation.x, rotation.y, rotation.z, 1);

		if (_drivingMode < 0) {
			CONTROLS::_SET_CONTROL_NORMAL(27, 71, currentThrottle); //[0,1]
			CONTROLS::_SET_CONTROL_NORMAL(27, 72, currentBrake); //[0,1]
			CONTROLS::_SET_CONTROL_NORMAL(27, 59, currentSteering); //[-1,1]
		}
		
		float delay = ((float)(now - lastSafetyCheck)) / CLOCKS_PER_SEC;
		if (delay > 10) {
			lastSafetyCheck = std::clock();
			//Avoid bad things such as getting killed by the police, robbed, dying in car accidents or other horrible stuff
			PLAYER::SET_EVERYONE_IGNORE_PLAYER(player, TRUE);
			PLAYER::SET_POLICE_IGNORE_PLAYER(player, TRUE);
			PLAYER::CLEAR_PLAYER_WANTED_LEVEL(player); // Never wanted

			// Put on seat belt
			PED::SET_PED_CONFIG_FLAG(ped, 32, FALSE);

			// Invincible vehicle
			VEHICLE::SET_VEHICLE_TYRES_CAN_BURST(vehicle, FALSE);
			VEHICLE::SET_VEHICLE_WHEELS_CAN_BREAK(vehicle, FALSE);
			VEHICLE::SET_VEHICLE_HAS_STRONG_AXLES(vehicle, TRUE);

			VEHICLE::SET_VEHICLE_CAN_BE_VISIBLY_DAMAGED(vehicle, FALSE);
			ENTITY::SET_ENTITY_INVINCIBLE(vehicle, TRUE);
			ENTITY::SET_ENTITY_PROOFS(vehicle, 1, 1, 1, 1, 1, 1, 1, 1);

			// Player invincible
			PLAYER::SET_PLAYER_INVINCIBLE(player, TRUE);

			// Driving characteristics
			PED::SET_DRIVER_AGGRESSIVENESS(ped, 0.0);
			PED::SET_DRIVER_ABILITY(ped, 100.0);

			// Ensure map is shown
			UI::SET_BLIP_ROUTE(destBlip, true);
			UI::SET_BLIP_ROUTE_COLOUR(destBlip, 27);
		}
	}
	scriptWait(0);
}

void Scenario::stop() {
	if (!running) return;
	running = false;
	CAM::DESTROY_ALL_CAMS(TRUE);
	CAM::RENDER_SCRIPT_CAMS(FALSE, TRUE, 500, FALSE, FALSE);
	AI::CLEAR_PED_TASKS(ped);
	setCommands(0.0, 0.0, 0.0);
	if(UI::DOES_BLIP_EXIST(destBlip)) 
		UI::REMOVE_BLIP(&destBlip);
}

void Scenario::setCommands(float throttle, float brake, float steering) {
	currentThrottle = throttle;
	currentBrake = brake;
	currentSteering = steering;
}

StringBuffer Scenario::generateMessage() {
	StringBuffer buffer;
	buffer.Clear();
	Writer<StringBuffer> writer(buffer);
	
	screenCapturer->capture();

	if (vehicles) setVehiclesList();
	if (peds) setPedsList();
	if (trafficSigns); //TODO
	if (direction) setDirection();
	if (reward) setReward();
	if (throttle) setThrottle();
	if (brake) setBrake();
	if (steering) setSteering();
	if (speed) setSpeed();
	if (yawRate) setYawRate();
	if (drivingMode); //TODO
	if (location) setLocation();
	if (time) setTime();

	d.Accept(writer);

	return buffer;
}

void Scenario::setVehiclesList() {
	const int ARR_SIZE = 1024;
	Vehicle vehicles[ARR_SIZE];
	Value _vehicles(kArrayType);
	Document::AllocatorType& allocator = d.GetAllocator();

	Vector3 FUR; //Front Upper Right
	Vector3 BLL; //Back Lower Lelft
	Vector3 dim; //Vehicle dimensions
	Vector3 upVector, rightVector, forwardVector, position; //Vehicle position
	Hash model;
	Vector3 min;
	Vector3 max;
	Vector3 speedVector;
	float heading, speed;
	int classid;

	Vector3 currentPos = ENTITY::GET_ENTITY_COORDS(vehicle, false);
	Vector3 currentForwardVector = ENTITY::GET_ENTITY_FORWARD_VECTOR(vehicle);

	int count = worldGetAllVehicles(vehicles, ARR_SIZE);
	for (int i = 0; i < count; i++) {
		if (vehicles[i] == vehicle) continue; //Don't process own car!
		if (ENTITY::IS_ENTITY_ON_SCREEN(vehicles[i])) {
			//Check if it is in screen
			ENTITY::GET_ENTITY_MATRIX(vehicles[i], &rightVector, &forwardVector, &upVector, &position); //Blue or red pill
			if (SYSTEM::VDIST2(currentPos.x, currentPos.y, currentPos.z, position.x, position.y, position.z) < 22500) { //150 m.
				if (ENTITY::HAS_ENTITY_CLEAR_LOS_TO_ENTITY(vehicle, vehicles[i], 19)){
					//Check if we see it (not occluded)
					model = ENTITY::GET_ENTITY_MODEL(vehicles[i]);
					GAMEPLAY::GET_MODEL_DIMENSIONS(model, &min, &max);

					speedVector = ENTITY::GET_ENTITY_SPEED_VECTOR(vehicles[i], false);
					speed = ENTITY::GET_ENTITY_SPEED(vehicles[i]);
					if (speed > 0) {
						heading = GAMEPLAY::GET_HEADING_FROM_VECTOR_2D(speedVector.x - currentForwardVector.x, speedVector.y - currentForwardVector.y);
					}
					else {
						heading = GAMEPLAY::GET_HEADING_FROM_VECTOR_2D(forwardVector.x - currentForwardVector.x, forwardVector.y - currentForwardVector.y);
					}

					if (VEHICLE::IS_THIS_MODEL_A_CAR(model)) classid = 0;
					else if (VEHICLE::IS_THIS_MODEL_A_BIKE(model)) classid = 1;
					else if (VEHICLE::IS_THIS_MODEL_A_BICYCLE(model)) classid = 2;
					else if (VEHICLE::IS_THIS_MODEL_A_QUADBIKE(model)) classid = 3;
					else if (VEHICLE::IS_THIS_MODEL_A_BOAT(model)) classid = 4;
					else if (VEHICLE::IS_THIS_MODEL_A_PLANE(model)) classid = 5;
					else if (VEHICLE::IS_THIS_MODEL_A_HELI(model)) classid = 6;
					else if (VEHICLE::IS_THIS_MODEL_A_TRAIN(model)) classid = 7;
					else if (VEHICLE::_IS_THIS_MODEL_A_SUBMERSIBLE(model)) classid = 8;
					else classid = 9; //unknown (ufo?)

					//Calculate size
					dim.x = 0.5*(max.x - min.x);
					dim.y = 0.5*(max.y - min.y);
					dim.z = 0.5*(max.z - min.z);

					FUR.x = position.x + dim.y*rightVector.x + dim.x*forwardVector.x + dim.z*upVector.x;
					FUR.y = position.y + dim.y*rightVector.y + dim.x*forwardVector.y + dim.z*upVector.y;
					FUR.z = position.z + dim.y*rightVector.z + dim.x*forwardVector.z + dim.z*upVector.z;
					//GAMEPLAY::GET_GROUND_Z_FOR_3D_COORD(FUR.x, FUR.y, FUR.z, &(FUR.z), 0);
					//FUR.z += 2 * dim.z;

					BLL.x = position.x - dim.y*rightVector.x - dim.x*forwardVector.x - dim.z*upVector.x;
					BLL.y = position.y - dim.y*rightVector.y - dim.x*forwardVector.y - dim.z*upVector.y;
					BLL.z = position.z - dim.y*rightVector.z - dim.x*forwardVector.z - dim.z*upVector.z;
					//GAMEPLAY::GET_GROUND_Z_FOR_3D_COORD(BLL.x, BLL.y, 1000.0, &(BLL.z), 0);

					Value _vehicle(kObjectType);

					Value _vector(kArrayType);
					_vector.PushBack(FUR.x - currentPos.x, allocator).PushBack(FUR.y - currentPos.y, allocator).PushBack(FUR.z - currentPos.z, allocator);
					_vehicle.AddMember("FUR", _vector, allocator);
					_vector.SetArray();
					_vector.PushBack(BLL.x - currentPos.x, allocator).PushBack(BLL.y - currentPos.y, allocator).PushBack(BLL.z - currentPos.z, allocator);
					_vehicle.AddMember("BLL", _vector, allocator).AddMember("speed", speed, allocator).AddMember("heading", heading, allocator).AddMember("classID", classid, allocator);

					_vehicles.PushBack(_vehicle, allocator);

					#ifdef DEBUG
					Vector3 edge1 = BLL;
					Vector3 edge2;
					Vector3 edge3;
					Vector3 edge4;
					Vector3 edge5 = FUR;
					Vector3 edge6;
					Vector3 edge7;
					Vector3 edge8;

					edge2.x = edge1.x + 2 * dim.y*rightVector.x;
					edge2.y = edge1.y + 2 * dim.y*rightVector.y;
					edge2.z = edge1.z + 2 * dim.y*rightVector.z;

					edge3.x = edge2.x + 2 * dim.z*upVector.x;
					edge3.y = edge2.y + 2 * dim.z*upVector.y;
					edge3.z = edge2.z + 2 * dim.z*upVector.z;

					edge4.x = edge1.x + 2 * dim.z*upVector.x;
					edge4.y = edge1.y + 2 * dim.z*upVector.y;
					edge4.z = edge1.z + 2 * dim.z*upVector.z;

					edge6.x = edge5.x - 2 * dim.y*rightVector.x;
					edge6.y = edge5.y - 2 * dim.y*rightVector.y;
					edge6.z = edge5.z - 2 * dim.y*rightVector.z;

					edge7.x = edge6.x - 2 * dim.z*upVector.x;
					edge7.y = edge6.y - 2 * dim.z*upVector.y;
					edge7.z = edge6.z - 2 * dim.z*upVector.z;

					edge8.x = edge5.x - 2 * dim.z*upVector.x;
					edge8.y = edge5.y - 2 * dim.z*upVector.y;
					edge8.z = edge5.z - 2 * dim.z*upVector.z;

					GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge2.x, edge2.y, edge2.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge4.x, edge4.y, edge4.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge2.x, edge2.y, edge2.z, edge3.x, edge3.y, edge3.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge3.x, edge3.y, edge3.z, edge4.x, edge4.y, edge4.z, 0, 255, 0, 200);

					GRAPHICS::DRAW_LINE(edge5.x, edge5.y, edge5.z, edge6.x, edge6.y, edge6.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge5.x, edge5.y, edge5.z, edge8.x, edge8.y, edge8.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge6.x, edge6.y, edge6.z, edge7.x, edge7.y, edge7.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge7.x, edge7.y, edge7.z, edge8.x, edge8.y, edge8.z, 0, 255, 0, 200);

					GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge7.x, edge7.y, edge7.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge2.x, edge2.y, edge2.z, edge8.x, edge8.y, edge8.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge3.x, edge3.y, edge3.z, edge5.x, edge5.y, edge5.z, 0, 255, 0, 200);
					GRAPHICS::DRAW_LINE(edge4.x, edge4.y, edge4.z, edge6.x, edge6.y, edge6.z, 0, 255, 0, 200);
					#endif

				}
			}
		}
	}
			
	d["vehicles"] = _vehicles;
}

void Scenario::setPedsList(){
	const int ARR_SIZE = 1024;
	Ped peds[ARR_SIZE];
	Value _peds(kArrayType);
	Document::AllocatorType& allocator = d.GetAllocator();

	Vector3 FUR; //Front Upper Right
	Vector3 BLL; //Back Lower Lelft
	Vector3 dim; //Vehicle dimensions
	Vector3 upVector, rightVector, forwardVector, position; //Vehicle position
	Hash model;
	Vector3 min;
	Vector3 max;
	Vector3 speedVector;
	float heading, speed;
	int classid;

	Vector3 currentPos = ENTITY::GET_ENTITY_COORDS(vehicle, false);
	Vector3 currentForwardVector = ENTITY::GET_ENTITY_FORWARD_VECTOR(vehicle);

	int count = worldGetAllPeds(peds, ARR_SIZE);
	for (int i = 0; i < count; i++) {
		if (PED::IS_PED_IN_ANY_VEHICLE(peds[i], TRUE)) continue; //Don't process peds in vehicles!
		if (ENTITY::IS_ENTITY_ON_SCREEN(peds[i])) {
			//Check if it is in screen
			ENTITY::GET_ENTITY_MATRIX(peds[i], &rightVector, &forwardVector, &upVector, &position); //Blue or red pill
			if (SYSTEM::VDIST2(currentPos.x, currentPos.y, currentPos.z, position.x, position.y, position.z) < 22500) { //150 m.
				if (ENTITY::HAS_ENTITY_CLEAR_LOS_TO_ENTITY(ped, peds[i], 19)){
					//Check if we see it (not occluded)
					model = ENTITY::GET_ENTITY_MODEL(peds[i]);
					GAMEPLAY::GET_MODEL_DIMENSIONS(model, &min, &max);

					speedVector = ENTITY::GET_ENTITY_SPEED_VECTOR(peds[i], false);
					speed = ENTITY::GET_ENTITY_SPEED(peds[i]);
					if (speed > 0) {
						heading = GAMEPLAY::GET_HEADING_FROM_VECTOR_2D(speedVector.x - currentForwardVector.x, speedVector.y - currentForwardVector.y);
					}
					else {
						heading = GAMEPLAY::GET_HEADING_FROM_VECTOR_2D(forwardVector.x - currentForwardVector.x, forwardVector.y - currentForwardVector.y);
					}

					if (PED::GET_PED_TYPE(peds[i]) == 28) classid = 11; //animal
					else classid = 10;

					//Calculate size
					dim.x = 0.5*(max.x - min.x);
					dim.y = 0.5*(max.y - min.y);
					dim.z = 0.5*(max.z - min.z);

					FUR.x = position.x + dim.y*rightVector.x + dim.x*forwardVector.x + dim.z*upVector.x;
					FUR.y = position.y + dim.y*rightVector.y + dim.x*forwardVector.y + dim.z*upVector.y;
					FUR.z = position.z + dim.y*rightVector.z + dim.x*forwardVector.z + dim.z*upVector.z;
					//GAMEPLAY::GET_GROUND_Z_FOR_3D_COORD(FUR.x, FUR.y, 1000.0, &(FUR.z), 0);
					//FUR.z += 2 * dim.z;

					BLL.x = position.x - dim.y*rightVector.x - dim.x*forwardVector.x - dim.z*upVector.x;
					BLL.y = position.y - dim.y*rightVector.y - dim.x*forwardVector.y - dim.z*upVector.y;
					BLL.z = position.z - dim.y*rightVector.z - dim.x*forwardVector.z - dim.z*upVector.z;
					//GAMEPLAY::GET_GROUND_Z_FOR_3D_COORD(BLL.x, BLL.y, 1000.0, &(BLL.z), 0);

					Value _ped(kObjectType);

					Value _vector(kArrayType);
					_vector.PushBack(FUR.x - currentPos.x, allocator).PushBack(FUR.y - currentPos.y, allocator).PushBack(FUR.z - currentPos.z, allocator);
					_ped.AddMember("FUR", _vector, allocator);
					_vector.SetArray();
					_vector.PushBack(BLL.x - currentPos.x, allocator).PushBack(BLL.y - currentPos.y, allocator).PushBack(BLL.z - currentPos.z, allocator);
					_ped.AddMember("BLL", _vector, allocator).AddMember("speed", speed, allocator).AddMember("heading", heading, allocator).AddMember("classID", classid, allocator);

					_peds.PushBack(_ped, allocator);

					#ifdef DEBUG
					Vector3 edge1 = BLL;
					Vector3 edge2;
					Vector3 edge3;
					Vector3 edge4;
					Vector3 edge5 = FUR;
					Vector3 edge6;
					Vector3 edge7;
					Vector3 edge8;

					edge2.x = edge1.x + 2 * dim.y*rightVector.x;
					edge2.y = edge1.y + 2 * dim.y*rightVector.y;
					edge2.z = edge1.z + 2 * dim.y*rightVector.z;

					edge3.x = edge2.x + 2 * dim.z*upVector.x;
					edge3.y = edge2.y + 2 * dim.z*upVector.y;
					edge3.z = edge2.z + 2 * dim.z*upVector.z;

					edge4.x = edge1.x + 2 * dim.z*upVector.x;
					edge4.y = edge1.y + 2 * dim.z*upVector.y;
					edge4.z = edge1.z + 2 * dim.z*upVector.z;

					edge6.x = edge5.x - 2 * dim.y*rightVector.x;
					edge6.y = edge5.y - 2 * dim.y*rightVector.y;
					edge6.z = edge5.z - 2 * dim.y*rightVector.z;

					edge7.x = edge6.x - 2 * dim.z*upVector.x;
					edge7.y = edge6.y - 2 * dim.z*upVector.y;
					edge7.z = edge6.z - 2 * dim.z*upVector.z;

					edge8.x = edge5.x - 2 * dim.z*upVector.x;
					edge8.y = edge5.y - 2 * dim.z*upVector.y;
					edge8.z = edge5.z - 2 * dim.z*upVector.z;

					GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge2.x, edge2.y, edge2.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge4.x, edge4.y, edge4.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge2.x, edge2.y, edge2.z, edge3.x, edge3.y, edge3.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge3.x, edge3.y, edge3.z, edge4.x, edge4.y, edge4.z, 255, 0, 0, 200);

					GRAPHICS::DRAW_LINE(edge5.x, edge5.y, edge5.z, edge6.x, edge6.y, edge6.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge5.x, edge5.y, edge5.z, edge8.x, edge8.y, edge8.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge6.x, edge6.y, edge6.z, edge7.x, edge7.y, edge7.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge7.x, edge7.y, edge7.z, edge8.x, edge8.y, edge8.z, 255, 0, 0, 200);

					GRAPHICS::DRAW_LINE(edge1.x, edge1.y, edge1.z, edge7.x, edge7.y, edge7.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge2.x, edge2.y, edge2.z, edge8.x, edge8.y, edge8.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge3.x, edge3.y, edge3.z, edge5.x, edge5.y, edge5.z, 255, 0, 0, 200);
					GRAPHICS::DRAW_LINE(edge4.x, edge4.y, edge4.z, edge6.x, edge6.y, edge6.z, 255, 0, 0, 200);
					#endif

				}
			}
		}
	}		
	d["peds"] = _peds;
}


void Scenario::setThrottle(){
	d["throttle"] = getFloatValue(vehicle, 0x92C);
}

void Scenario::setBrake(){
	d["brake"] = getFloatValue(vehicle, 0x930);
}

void Scenario::setSteering(){
	d["steering"] = -getFloatValue(vehicle, 0x924) / 0.6981317008;
}

void Scenario::setSpeed(){
	d["speed"] = ENTITY::GET_ENTITY_SPEED(vehicle);
}

void Scenario::setYawRate(){
	Vector3 rates = ENTITY::GET_ENTITY_ROTATION_VELOCITY(vehicle);
	d["yawRate"] = rates.z*180.0 / 3.14159265359;
}

void Scenario::setLocation(){
	Document::AllocatorType& allocator = d.GetAllocator();
	Vector3 pos = ENTITY::GET_ENTITY_COORDS(vehicle, false);
	Value location(kArrayType);
	location.PushBack(pos.x, allocator).PushBack(pos.y, allocator).PushBack(pos.z, allocator);
	d["location"] = location;
}

void Scenario::setTime(){
	d["time"] = TIME::GET_CLOCK_HOURS();
}

void Scenario::setDirection(){
	int direction;
	float distance;
	Vehicle temp_vehicle;
	Document::AllocatorType& allocator = d.GetAllocator();
	PATHFIND::GENERATE_DIRECTIONS_TO_COORD(dest.x, dest.y, dest.z, TRUE, &direction, &temp_vehicle, &distance);
	Value _direction(kArrayType);
	_direction.PushBack(direction, allocator).PushBack(distance, allocator);
	d["direction"] = _direction;
}

void Scenario::setReward() {
	d["reward"] = rewarder->computeReward(vehicle);
}