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).

Features

• Real-time 2D rendering (unit quad mesh + shader: scale → rotate → translate)
• Kinematic bicycle model (meters + radians)
• Discrete action space (combined accelerate + steer)
• Parking environment scaffolding (for future RL)
• CMake build + optional tests
• CI workflow (GitHub Actions)

Simulation Environment

OS Windows 10

Library

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.

Build setting

Build command

• without CMake

g++ -std=c++17 src/glad.c src/main.cpp src/Window.cpp src/Loader.cpp src/shaders/ShaderProgram.cpp src/shaders/RectShader.cpp src/entities/Entity.cpp src/renderers/Renderer.cpp src/vehicledynamics/BicycleModel.cpp src/utilities/Randomizer.cpp src/simulator/Simulator.cpp src/envs/ParkingEnv.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

Documentation

• Folder structure
• Development notes
• Class architecture
• Class diagram
• CI process

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