Dont init invalid agents at first time step.

src/bindings.cpp

@@ -51,7 +51,8 @@ namespace gpudrive
             .def_rw("collisionBehaviour", &Parameters::collisionBehaviour)
             .def_rw("maxNumControlledVehicles", &Parameters::maxNumControlledVehicles)
             .def_rw("IgnoreNonVehicles", &Parameters::IgnoreNonVehicles)
-            .def_rw("roadObservationAlgorithm", &Parameters::roadObservationAlgorithm);
+            .def_rw("roadObservationAlgorithm", &Parameters::roadObservationAlgorithm)
+            .def_rw("initOnlyValidAgentsAtFirstStep ", &Parameters::initOnlyValidAgentsAtFirstStep);
 
         // Define CollisionBehaviour enum
         nb::enum_<CollisionBehaviour>(m, "CollisionBehaviour")

src/init.hpp

@@ -111,6 +111,7 @@ namespace gpudrive
         bool IgnoreNonVehicles = false; // Default: false
         FindRoadObservationsWith roadObservationAlgorithm{
             FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering};
+        bool initOnlyValidAgentsAtFirstStep = true; // Default: true
     };
 
     struct WorldInit

src/level_gen.cpp

@@ -335,6 +335,10 @@ void createPersistentEntities(Engine &ctx, Map *map) {
             }
         }
         const auto &agentInit = map->objects[agentCtr];
+        if (ctx.data().params.initOnlyValidAgentsAtFirstStep && agentInit.valid[0] == false)
+        {
+            continue;
+        }
         auto agent = createAgent(
             ctx, agentInit);
         ctx.data().agents[agentIdx++] = agent;

tests/bicyclemodel.cpp

@@ -27,6 +27,7 @@ class BicycleKinematicModelTest : public ::testing::Test {
             .polylineReductionThreshold = 0.0,
             .observationRadius = 100.0,
             .collisionBehaviour = gpudrive::CollisionBehaviour::Ignore,
+            .initOnlyValidAgentsAtFirstStep = false
         }
     });