Mark agents as static if they spawn near goal (#125)

* Init static agents

* Fix the compile error

* Formatting

src/level_gen.cpp

@@ -61,15 +61,6 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
     ctx.get<EntityType>(agent) = agentInit.type;
 
     ctx.get<Goal>(agent)= Goal{.position = Vector2{.x = agentInit.goalPosition.x - ctx.data().mean.x, .y = agentInit.goalPosition.y - ctx.data().mean.y}};
-    if(ctx.data().numControlledVehicles < ctx.data().params.maxNumControlledVehicles && agentInit.type == EntityType::Vehicle && agentInit.valid[0])
-    {
-        ctx.get<ControlledState>(agent) = ControlledState{.controlledState = ControlMode::BICYCLE};
-        ctx.data().numControlledVehicles++;
-    }
-    else
-    {
-        ctx.get<ControlledState>(agent) = ControlledState{.controlledState = ControlMode::EXPERT};
-    }
 
     // Since position, heading, and speed may vary within an episode, their
     // values are retained so that on an episode reset they can be restored to
@@ -83,6 +74,21 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
         trajectory.valids[i] = agentInit.valid[i];
     }
 
+    if((ctx.get<Goal>(agent).position - trajectory.positions[0]).length() < 0.5f)
+    {
+        ctx.get<ResponseType>(agent) = ResponseType::Static;
+    }
+
+    if(ctx.data().numControlledVehicles < ctx.data().params.maxNumControlledVehicles && agentInit.type == EntityType::Vehicle && agentInit.valid[0] && ctx.get<ResponseType>(agent) == ResponseType::Dynamic)
+    {
+        ctx.get<ControlledState>(agent) = ControlledState{.controlledState = ControlMode::BICYCLE};
+        ctx.data().numControlledVehicles++;
+    }
+    else
+    {
+        ctx.get<ControlledState>(agent) = ControlledState{.controlledState = ControlMode::EXPERT};
+    }
+
     // This is not stricly necessary since , but is kept here for consistency
     resetAgent(ctx, agent);