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Added Carla To CarlaExporter plugin and changes to Tesselation code

This commit is contained in:
Jorge Virgos 2024-10-02 13:55:08 +02:00
parent 728e1155fa
commit 181718ef9b
11 changed files with 137 additions and 20 deletions
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17
LibCarla/source/carla/road/Map.cpp
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@ -1349,8 +1349,8 @@ namespace road {
std::vector<geom::Mesh> Map::GetAllCrosswalkMeshesTesselated() const {
std::vector<geom::Mesh> out_meshes;
const size_t NumVertexWidthTessCrosswalk = 30;
const size_t NumVertexLenghtTessCrosswalk = 200;
const size_t NumVertexWidthTessCrosswalk = 2;
const size_t NumVertexLenghtTessCrosswalk = 2;
// Get the crosswalk vertices for the current map
const std::vector<std::vector<geom::Location>> crosswalks_vertices = GetAllCrosswalkZonesListed();
@ -1370,28 +1370,31 @@ namespace road {
geom::Location forwardvector = current_crosswalk[2] - current_crosswalk[0];
geom::Vector3D first_left_edge = current_crosswalk[0];
geom::Vector3D first_right_edge = current_crosswalk[0];
geom::Vector3D first_right_edge = current_crosswalk[1];
size_t current_vertex_length = 0;
std::vector<geom::Vector3D> vertices;
// Ensure minimum vertices in width are two
const int vertices_in_width = NumVertexWidthTessCrosswalk;
const int segments_number = vertices_in_width - 1;
const geom::Location segments_length_size = forwardvector/NumVertexLenghtTessCrosswalk;
do {
const geom::Vector3D left_edge = first_left_edge + (forwardvector * current_vertex_length);
const geom::Vector3D right_edge = first_right_edge + (forwardvector * current_vertex_length);
const geom::Vector3D left_edge = first_left_edge + (segments_length_size * current_vertex_length);
const geom::Vector3D right_edge = first_right_edge + (segments_length_size * current_vertex_length);
const geom::Vector3D segments_size = ( right_edge - left_edge ) / segments_number;
geom::Vector3D current_vertex = left_edge;
for (int i = 0; i < vertices_in_width; ++i) {
current_vertex = current_vertex + segments_size * i;
vertices.push_back(current_vertex);
current_vertex = current_vertex + segments_size;
}
// Update the current waypoint's "s"
current_vertex_length++;
} while (current_vertex_length < NumVertexLenghtTessCrosswalk);
out_mesh.AddVertices(vertices);
for (size_t i = 0; i < (NumVertexLenghtTessCrosswalk - 1); ++i) {
for (size_t j = 0; j < NumVertexWidthTessCrosswalk - 1; ++j) {
out_mesh.AddIndex( j + ( i * NumVertexWidthTessCrosswalk ) + 1);

6
Unreal/CMakeLists.txt
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@ -295,6 +295,12 @@ foreach (DEF_FILE ${CARLA_UNREAL_DEF_FILES})
-E create_symlink
${CMAKE_CURRENT_BINARY_DIR}/${DEF_FILE}
${CARLA_UE_CARLA_TOOLS_PATH}/${DEF_FILE}
COMMAND
${CMAKE_COMMAND}
ARGS
-E create_symlink
${CMAKE_CURRENT_BINARY_DIR}/${DEF_FILE}
${CARLA_UE_CARLA_EXPORTER_PATH}/${DEF_FILE}
)
endforeach ()

6
Unreal/CarlaUnreal/Plugins/CarlaExporter/CarlaExporter.uplugin
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@ -19,5 +19,11 @@
"Type": "Editor",
"LoadingPhase": "Default"
}
],
"Plugins": [
{
"Name": "Carla",
"Enabled": true
}
]
}

1
Unreal/CarlaUnreal/Plugins/CarlaExporter/Definitions.def Symbolic link
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@ -0,0 +1 @@
C:/CarlaUE5/Build/Unreal/Definitions.def

1
Unreal/CarlaUnreal/Plugins/CarlaExporter/Includes.def Symbolic link
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@ -0,0 +1 @@
C:/CarlaUE5/Build/Unreal/Includes.def

1
Unreal/CarlaUnreal/Plugins/CarlaExporter/Libraries.def Symbolic link
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@ -0,0 +1 @@
C:/CarlaUE5/Build/Unreal/Libraries.def

1
Unreal/CarlaUnreal/Plugins/CarlaExporter/Options.def Symbolic link
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@ -0,0 +1 @@
C:/CarlaUE5/Build/Unreal/Options.def

28
Unreal/CarlaUnreal/Plugins/CarlaExporter/Source/CarlaExporter/CarlaExporter.Build.cs
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@ -4,7 +4,9 @@
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
using System;
using UnrealBuildTool;
using System.IO;
public class CarlaExporter :
ModuleRules
@ -13,8 +15,12 @@ public class CarlaExporter :
base(Target)
{
PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
bEnableExceptions = true;
PublicDependencyModuleNames.Add("Core");
PublicDependencyModuleNames.Add("Carla");
PrivateDependencyModuleNames.AddRange(new string[]
{
@ -29,5 +35,27 @@ public class CarlaExporter :
"Chaos",
"EditorStyle",
});
PublicDefinitions.AddRange(new string[]
{
"ASIO_NO_EXCEPTIONS",
"BOOST_NO_EXCEPTIONS",
"LIBCARLA_NO_EXCEPTIONS",
"PUGIXML_NO_EXCEPTIONS",
"BOOST_DISABLE_ABI_HEADERS",
"BOOST_NO_RTTI",
"BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY",
});
foreach (var Definition in File.ReadAllText(Path.Combine(PluginDirectory, "Definitions.def")).Split(';'))
PrivateDefinitions.Add(Definition.Trim());
foreach (var Path in File.ReadAllText(Path.Combine(PluginDirectory, "Includes.def")).Split(';'))
if (Path.Length != 0)
PublicIncludePaths.Add(Path.Trim());
foreach (var Path in File.ReadAllText(Path.Combine(PluginDirectory, "Libraries.def")).Split(';'))
if (Path.Length != 0)
PublicAdditionalLibraries.Add(Path.Trim());
}
}

85
Unreal/CarlaUnreal/Plugins/CarlaExporter/Source/CarlaExporter/Private/CarlaExporter.cpp
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@ -22,8 +22,20 @@
#include "Chaos/TriangleMeshImplicitObject.h"
#include <fstream>
#include <sstream>
#include <vector>
#include <optional>
#include <exception>
#include "OpenDrive/OpenDriveGenerator.h"
#include <compiler/disable-ue4-macros.h>
#include <carla/opendrive/OpenDriveParser.h>
#include <carla/road/Map.h>
#include <carla/rpc/String.h>
#include <carla/Exception.h>
#include <compiler/enable-ue4-macros.h>
static const FName CarlaExporterTabName("CarlaExporter");
DEFINE_LOG_CATEGORY(LogCarlaExporter);
#define LOCTEXT_NAMESPACE "FCarlaExporterModule"
@ -163,7 +175,7 @@ void FCarlaExporterModule::PluginButtonClicked()
comp2->GetInstanceTransform(i, InstanceTransform, true);
FVector InstanceLocation = InstanceTransform.GetTranslation();
offset += WriteObjectGeom(f, ObjectName, body, InstanceTransform, areaType, offset);
//offset += WriteObjectGeom(f, ObjectName, body, InstanceTransform, areaType, offset);
}
}
else
@ -183,14 +195,59 @@ void FCarlaExporterModule::PluginButtonClicked()
FTransform CompTransform = comp->GetComponentTransform();
FVector CompLocation = CompTransform.GetTranslation();
offset += WriteObjectGeom(f, ObjectName, body, CompTransform, areaType, offset);
//offset += WriteObjectGeom(f, ObjectName, body, CompTransform, areaType, offset);
}
}
}
}
offset += WriteCrosswalks(f, offset);
f.close();
}
int32 FCarlaExporterModule::WriteCrosswalks(std::ofstream &f, int32 Offset){
FString FilePath = FString("C:/CarlaUE5/Unreal/CarlaUnreal/Content/Carla/Maps/OpenDrive/Town10HD_Opt.xodr");
FString FileContent;
FFileHelper::LoadFileToString(FileContent, *FilePath);
std::string opendrive_xml = carla::rpc::FromLongFString(FileContent);
std::optional<carla::road::Map> CarlaMap = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
if (!CarlaMap.has_value())
{
//UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("Invalid Map"));
return 0;
}
std::vector<carla::geom::Mesh> crosswalk_meshes = CarlaMap->GetAllCrosswalkMeshesTesselated();
constexpr float TO_METERS = 0.01f;
int TotalVerticesAdded = 0;
for(int i = 0; i < crosswalk_meshes.size(); i++){
f << "o crosswalk_" << TCHAR_TO_ANSI(*FString::FromInt(i)) << "\n";
std::vector<carla::geom::Vector3D> crosswalk_vertices = crosswalk_meshes[i].GetVertices();
std::vector<size_t> crosswalk_indexes = crosswalk_meshes[i].GetIndexes();
for(int j = 0; j < crosswalk_vertices.size(); ++j){
f << "v " << std::fixed << crosswalk_vertices[j].x << " " << crosswalk_vertices[j].z << " " << crosswalk_vertices[j].y << "\n";
}
f << "usemtl crosswalk" << "\n";
for(int j = 0; j < crosswalk_indexes.size(); j+=3){
f << "f " << Offset + crosswalk_indexes[j] << " " << Offset + crosswalk_indexes[j+1] << " " << Offset + crosswalk_indexes[j+2] << "\n";
}
Offset += crosswalk_vertices.size();
TotalVerticesAdded = crosswalk_vertices.size();
}
return TotalVerticesAdded;
}
int32 FCarlaExporterModule::WriteObjectGeom(std::ofstream &f, FString ObjectName, UBodySetup *body, FTransform &CompTransform, AreaType Area, int32 Offset)
{
if (!body) return 0;
@ -404,9 +461,6 @@ int32 FCarlaExporterModule::WriteObjectGeom(std::ofstream &f, FString ObjectName
}
return TotalVerticesAdded;
#else
return 0;
#endif
}
void FCarlaExporterModule::AddMenuExtension(FMenuBuilder& Builder)
@ -417,3 +471,24 @@ void FCarlaExporterModule::AddMenuExtension(FMenuBuilder& Builder)
#undef LOCTEXT_NAMESPACE
IMPLEMENT_MODULE(FCarlaExporterModule, CarlaExporter)
// =============================================================================
// -- Implement carla throw_exception ------------------------------------------
// =============================================================================
#ifdef LIBCARLA_NO_EXCEPTIONS
#include <compiler/disable-ue4-macros.h>
#include <carla/Exception.h>
#include <compiler/enable-ue4-macros.h>
#include <exception>
namespace carla {
void throw_exception(const std::exception &e) {
UE_LOG(LogCarlaExporter, Fatal, TEXT("Exception thrown: %s"), UTF8_TO_TCHAR(e.what()));
// It should never reach this part.
std::terminate();
}
} // namespace carla
#endif

3
Unreal/CarlaUnreal/Plugins/CarlaExporter/Source/CarlaExporter/Public/CarlaExporter.h
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@ -10,6 +10,8 @@
#include "Modules/ModuleManager.h"
#include <string>
DECLARE_LOG_CATEGORY_EXTERN(LogCarlaExporter, Log, All);
class FToolBarBuilder;
class FMenuBuilder;
@ -36,6 +38,7 @@ public:
private:
void AddMenuExtension(FMenuBuilder& Builder);
int32 WriteCrosswalks(std::ofstream &f, int32 Offset);
int32 WriteObjectGeom(std::ofstream &f, FString ObjectName, UBodySetup *body, FTransform &CompTransform, AreaType Area, int32 Offset);
private:

8
Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
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@ -125,14 +125,6 @@ public class CarlaTools :
PrivateDefinitions.Add("WIN32_LEAN_AND_MEAN");
}
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_NO_RTTI");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
if (EnableOSM2ODR)
{
// @TODO