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Added basic walls to standalone OpenDRIVE mode

This commit is contained in:
Marc Garcia Puig 2020-03-28 18:30:34 +01:00 committed by bernat
parent e8332e362f
commit 0999b0ba05
5 changed files with 119 additions and 3 deletions
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8
LibCarla/source/carla/road/LaneSection.cpp
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@ -29,6 +29,14 @@ namespace road {
return nullptr;
}
const Lane *LaneSection::GetLane(const LaneId id) const {
auto search = _lanes.find(id);
if (search != _lanes.end()) {
return &search->second;
}
return nullptr;
}
std::map<LaneId, Lane> &LaneSection::GetLanes() {
return _lanes;
}

2
LibCarla/source/carla/road/LaneSection.h
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@ -32,6 +32,8 @@ namespace road {
Lane *GetLane(const LaneId id);
const Lane *GetLane(const LaneId id) const;
bool ContainsLane(LaneId id) const {
return (_lanes.find(id) != _lanes.end());
}

106
LibCarla/source/carla/road/Map.cpp
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@ -1070,7 +1070,7 @@ namespace road {
return std::make_pair(loc_r, loc_l);
}
geom::Mesh Map::GenerateMesh(double distance) const {
geom::Mesh Map::GenerateMesh(const double distance) const {
RELEASE_ASSERT(distance > 0.0);
geom::Mesh out_mesh;
// Iterate each lane in each lane_section in each road
@ -1167,5 +1167,109 @@ namespace road {
return out_mesh;
}
geom::Mesh Map::GenerateWalls(const double distance, const float wall_height) const {
RELEASE_ASSERT(distance > 0.0);
// TODO: clean up this code
geom::Mesh out_mesh;
// Iterate each lane in each lane_section in each road
for (const auto &pair : _data.GetRoads()) {
const auto &road = pair.second;
if (road.IsJunction()) {
continue;
}
for (const auto &lane_section : road.GetLaneSections()) {
// Get the lane reference
// -- RIGHT WALL --
const auto *lane0 = lane_section.GetLane(lane_section.GetLanes().begin()->first);
// The lane with lane_id 0 have no physical representation in OpenDRIVE
if (lane0 == nullptr || lane0->GetId() == 0) {
continue;
}
const auto end_distance = lane0->GetDistance() + lane0->GetLength() - EPSILON;
Waypoint current_wp0 {
road.GetId(),
lane_section.GetId(),
lane0->GetId(),
lane_section.GetDistance() + EPSILON };
std::vector<geom::Vector3D> vertices;
if (IsLaneStraight(*lane0)) {
// Mesh optimization: If the lane is straight just add vertices at the
// begining and at the end of it
const auto edges = GetWaypointCornerPositions(*this, current_wp0, *lane0);
vertices.push_back(edges.first + geom::Vector3D(0.f, 0.f, wall_height));
vertices.push_back(edges.first);
} else {
// Iterate over the lane's 's' and store the vertices based on it's width
do {
// Get the location of the edges of the current lane at the current waypoint
const auto edges = GetWaypointCornerPositions(*this, current_wp0, *lane0);
vertices.push_back(edges.first + geom::Vector3D(0.f, 0.f, wall_height));
vertices.push_back(edges.first);
// Update the current waypoint's "s"
current_wp0.s += distance;
} while(current_wp0.s < end_distance);
}
// This ensures the mesh is constant and have no gaps between roads,
// adding geometry at the very end of the lane
if (end_distance - (current_wp0.s - distance) > EPSILON) {
current_wp0.s = end_distance;
const auto edges = GetWaypointCornerPositions(*this, current_wp0, *lane0);
vertices.push_back(edges.first + geom::Vector3D(0.f, 0.f, wall_height));
vertices.push_back(edges.first);
}
out_mesh.AddMaterial("security_wall");
out_mesh.AddTriangleStrip(vertices);
vertices.clear();
// -- LEFT WALL --
const auto *lane1 = lane_section.GetLane(lane_section.GetLanes().rbegin()->first);
// The lane with lane_id 0 have no physical representation in OpenDRIVE
if (lane1 == nullptr || lane1->GetId() == 0) {
continue;
}
Waypoint current_wp1 {
road.GetId(),
lane_section.GetId(),
lane1->GetId(),
lane_section.GetDistance() + EPSILON };
if (IsLaneStraight(*lane1)) {
// Mesh optimization: If the lane is straight just add vertices at the
// begining and at the end of it
const auto edges = GetWaypointCornerPositions(*this, current_wp1, *lane1);
vertices.push_back(edges.second);
vertices.push_back(edges.second + geom::Vector3D(0.f, 0.f, wall_height));
} else {
// Iterate over the lane's 's' and store the vertices based on it's width
do {
// Get the location of the edges of the current lane at the current waypoint
const auto edges = GetWaypointCornerPositions(*this, current_wp1, *lane1);
vertices.push_back(edges.second);
vertices.push_back(edges.second + geom::Vector3D(0.f, 0.f, wall_height));
// Update the current waypoint's "s"
current_wp1.s += distance;
} while(current_wp1.s < end_distance);
}
// This ensures the mesh is constant and have no gaps between roads,
// adding geometry at the very end of the lane
if (end_distance - (current_wp1.s - distance) > EPSILON) {
current_wp1.s = end_distance;
const auto edges = GetWaypointCornerPositions(*this, current_wp1, *lane1);
vertices.push_back(edges.second);
vertices.push_back(edges.second + geom::Vector3D(0.f, 0.f, wall_height));
}
out_mesh.AddTriangleStrip(vertices);
out_mesh.EndMaterial();
}
}
return out_mesh;
}
} // namespace road
} // namespace carla

4
LibCarla/source/carla/road/Map.h
View File

@ -146,11 +146,13 @@ namespace road {
ComputeJunctionConflicts(JuncId id) const;
/// Buids a mesh based on the OpenDRIVE
geom::Mesh GenerateMesh(double distance) const;
geom::Mesh GenerateMesh(const double distance) const;
/// Buids a mesh of all crosswalks based on the OpenDRIVE
geom::Mesh GetAllCrosswalkMesh() const;
geom::Mesh GenerateWalls(const double distance, const float wall_height) const;
const std::unordered_map<SignId, std::unique_ptr<Signal>>& GetSignals() const {
return _data.GetSignals();
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDrive/OpenDriveGenerator.cpp
View File

@ -70,7 +70,7 @@ void AOpenDriveGenerator::GenerateRoadMesh()
return;
}
const auto MeshData = CarlaMap->GenerateMesh(2);
const auto MeshData = CarlaMap->GenerateMesh(2) + CarlaMap->GenerateWalls(2, 1);
// Build the mesh
TArray<FVector> Vertices;