Car Simulator

Overview

Top-down 2D car simulator: car body + 4 wheels, meters-first physics with a fixed timestep, and smooth rendering via a single unit-quad mesh and a RectShader (scale → rotate → translate).

Simulation Environment

OS Windows 10

Library

Library	version	link
GLFW	3.4	https://www.glfw.org/download.html
GLAD	Refer to https://rpxomi.github.io/	https://glad.dav1d.de/
C++ g++ compiler (Windows 10)	13.1.0	-

Controls

A discrete action space is currently implemented and the car movement is calculated by a kinematic bicycle model with the input controls. Combined actions (e.g. accelerate + steer) are possible.

Controls	Description
Up	+acceleration
Down	-acceleration
Left	+steer(CCW)
Right	-steer(CW)
Escape	Quit

Documentation

• Folder structure Refer to this page

• Development Note Refer to this page

Build setting

Build command

• without CMake

g++ -std=c++17 src/glad.c src/main.cpp src/Loader.cpp src/shaders/ShaderProgram.cpp src/shaders/RectShader.cpp src/entities/Entity.cpp src/renderers/Renderer.cpp src/vehicledynamics/BicycleModel.cpp -o output/program -Llib -Iinclude -lglfw3dll

• CMake

1. Configure & Generate Build Files

cmake -B build -S . -DBUILD_TESTING=OFF (Without tests)

or

cmake -B build -S . -DBUILD_TESTING=ON (With tests)

2. Build / Link the Project

cmake --build build --config Release

CI process

Refer to this page

Development Plan

Simulation environment

• Introduce reinforcement learning for the parking
  • Research RL libraries for C++
  • Build an environment like gymnasium-style environment in Python
  • Introduce continuous action space
  • Implement RL
  • Training
  • Evaluation

Future development ideas

• Path finding
• Decision making
• Reinforcement learning
• Sensors
• 3D environment

Reference

Draw 2D Shapes C++ OpenGL from Scratch
OpenGL 入門
Hello Triangle
https://tokoik.github.io/GLFWdraft.pdf https://zenn.dev/nyanchu_program/articles/97637278839801 https://codelabo.com/posts/20200228150223