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Added arrows, and boxes to the new debug system

This commit is contained in:
Marc Garcia Puig 2019-07-12 17:19:18 +02:00
parent 7a2b283471
commit 0b8837f34c
1 changed files with 111 additions and 31 deletions
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142
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp
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@ -32,49 +32,129 @@ struct FShapeVisitor
Point.location,
Color,
1e2f * Point.size,
SDPG_World,
DepthPriority,
LifeTime);
}
void operator()(const Shape::Line &Line) const
{
World->PersistentLineBatcher->DrawLines(TArray<FBatchedLine>({
FBatchedLine(
Line.begin,
Line.end,
Color,
LifeTime,
1e2f * Line.thickness,
SDPG_World)}));
World->PersistentLineBatcher->DrawLine(
Line.begin,
Line.end,
Color,
DepthPriority,
1e2f * Line.thickness,
LifeTime);
}
void operator()(const Shape::Arrow &Arrow) const
{
DrawDebugDirectionalArrow(
World,
Arrow.line.begin,
Arrow.line.end,
1e2f * Arrow.arrow_size,
Color,
bPersistentLines,
LifeTime,
DepthPriority,
1e2f * Arrow.line.thickness);
const auto Diff = Arrow.line.end - Arrow.line.begin;
const FRotator LookAt = FRotationMatrix::MakeFromX(Diff).Rotator();
const FTransform Transform = {LookAt, Arrow.line.begin};
// Everything in centimeters
const auto Dist = 1e2f * Diff.Length();
const auto ArrowSize = 1e2f * Arrow.arrow_size;
const auto ArrowTipDist = Dist - ArrowSize;
const auto Thickness = 1e2f * Arrow.line.thickness;
World->PersistentLineBatcher->DrawLines(TArray<FBatchedLine>({
FBatchedLine(
Arrow.line.begin,
Arrow.line.end,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, +ArrowSize)),
Arrow.line.end,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, -ArrowSize)),
Arrow.line.end,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, +ArrowSize)),
Arrow.line.end,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, -ArrowSize)),
Arrow.line.end,
Color,
LifeTime,
Thickness,
DepthPriority)}));
}
void operator()(const Shape::Box &Box) const
{
FVector Extent = {Box.box.extent.x, Box.box.extent.y, Box.box.extent.z};
DrawDebugBox(
World,
Box.box.location,
1e2f * Extent,
FQuat(FRotator(Box.rotation)),
Color,
bPersistentLines,
LifeTime,
DepthPriority,
1e2f * Box.thickness);
const FVector Extent = 1e2f * FVector{Box.box.extent.x, Box.box.extent.y, Box.box.extent.z};
const FTransform Transform = {FRotator(Box.rotation), Box.box.location};
const auto Thickness = 1e2f * Box.thickness;
FVector B[2], P, Q;
B[0] = -Extent;
B[1] = Extent;
int32 i, j;
for( i=0; i<2; i++ )
{
for( j=0; j<2; j++ )
{
P.X=B[i].X;
Q.X=B[i].X;
P.Y=B[j].Y;
Q.Y=B[j].Y;
P.Z=B[0].Z;
Q.Z=B[1].Z;
World->PersistentLineBatcher->DrawLine(
Transform.TransformPosition(P),
Transform.TransformPosition(Q),
Color,
DepthPriority,
Thickness,
LifeTime);
P.Y=B[i].Y;
Q.Y=B[i].Y;
P.Z=B[j].Z;
Q.Z=B[j].Z;
P.X=B[0].X;
Q.X=B[1].X;
World->PersistentLineBatcher->DrawLine(
Transform.TransformPosition(P),
Transform.TransformPosition(Q),
Color,
DepthPriority,
Thickness,
LifeTime);
P.Z=B[i].Z;
Q.Z=B[i].Z;
P.X=B[j].X;
Q.X=B[j].X;
P.Y=B[0].Y;
Q.Y=B[1].Y;
World->PersistentLineBatcher->DrawLine(
Transform.TransformPosition(P),
Transform.TransformPosition(Q),
Color,
DepthPriority,
Thickness,
LifeTime);
}
}
}
void operator()(const Shape::String &Str) const
@ -99,7 +179,7 @@ private:
bool bPersistentLines;
uint8 DepthPriority = 0;
uint8 DepthPriority = SDPG_World;
};
void FDebugShapeDrawer::Draw(const carla::rpc::DebugShape &Shape)