Pedestrians check if a vehicle is near before crossing

LibCarla/source/carla/nav/Navigation.cpp

@@ -47,9 +47,9 @@ namespace nav {
   static const int MAX_AGENTS = 500;
   static const int MAX_QUERY_SEARCH_NODES = 2048;
   static const float AGENT_HEIGHT = 1.8f;
-  static const float AGENT_RADIUS = 0.3f;
+  static const float AGENT_RADIUS = 0.4f;
 
-  static const float AGENT_UNBLOCK_DISTANCE = 1.0f;
+  static const float AGENT_UNBLOCK_DISTANCE = 0.5f;
   static const float AGENT_UNBLOCK_DISTANCE_SQUARED = AGENT_UNBLOCK_DISTANCE * AGENT_UNBLOCK_DISTANCE;
   static const float AGENT_UNBLOCK_TIME = 2.0f;
 
@@ -545,8 +545,8 @@ namespace nav {
     DEBUG_ASSERT(_crowd != nullptr);
 
     // get the bounding box extension plus some space around
-    float hx = vehicle.bounding.extent.x + 1.5f;
-    float hy = vehicle.bounding.extent.y + 1.5f;
+    float hx = vehicle.bounding.extent.x + 1.0f;
+    float hy = vehicle.bounding.extent.y + 1.0f;
     // define the 4 corners of the bounding box
     cg::Vector3D boxCorner1 {-hx, -hy, 0};
     cg::Vector3D boxCorner2 { hx, -hy, 0};
@@ -1160,5 +1160,24 @@ namespace nav {
     agent->paused = pause;
   }
   
+  bool Navigation::hasVehicleNear(ActorId id) {
+    // get the internal index (walker or vehicle)
+    auto it = _mappedWalkersId.find(id);
+    if (it == _mappedWalkersId.end()) {
+      it = _mappedVehiclesId.find(id);
+      if (it == _mappedVehiclesId.end()) {
+        return false;
+      }
+    }
+
+    bool result;
+    {
+      // critical section, force single thread running this
+      std::lock_guard<std::mutex> lock(_mutex);
+      result = _crowd->hasVehicleNear(it->second);
+    }
+    return result;
+  }
+
 } // namespace nav
 } // namespace carla

LibCarla/source/carla/nav/Navigation.h

@@ -93,6 +93,8 @@ namespace nav {
     void SetPedestriansCrossFactor(float percentage);
     /// set an agent as paused for the crowd
     void PauseAgent(ActorId id, bool pause);
+    /// return if the agent has a vehicle near (as neighbour)
+    bool hasVehicleNear(ActorId id);
 
     dtCrowd *GetCrowd() { return _crowd; };
 

LibCarla/source/carla/nav/WalkerEvent.cpp

@@ -5,6 +5,7 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "carla/Logging.h"
+#include "carla/nav/Navigation.h"
 #include "carla/nav/WalkerEvent.h"
 
 namespace carla {
@@ -21,9 +22,8 @@ namespace nav {
     }
 
     bool WalkerEventVisitor::operator()(WalkerEventStopAndCheck &event, double delta) {
-        // refresh time and check
-        event.time -= delta;
-        return (event.time <= 0.0f);
+        // check if the agent has any vehicle around
+        return (!event.nav->hasVehicleNear(event.id));
     }
 
 } // namespace nav

LibCarla/source/carla/nav/WalkerEvent.h

@@ -8,9 +8,14 @@
 
 #include <boost/variant.hpp>
 
+#include "carla/rpc/ActorId.h"
+// #include "carla/nav/Navigation.h"
+
 namespace carla {
 namespace nav {
 
+    class Navigation;
+
     struct WalkerEventIgnore {
     };
 
@@ -20,8 +25,9 @@ namespace nav {
     };
 
     struct WalkerEventStopAndCheck {
-        double time;
-        WalkerEventStopAndCheck(double duration) : time(duration) {};
+        ActorId id;
+        Navigation *nav;
+        WalkerEventStopAndCheck(ActorId id, Navigation *nav) : id(id), nav(nav) {};
     };
 
     using WalkerEvent = boost::variant<WalkerEventIgnore, WalkerEventWait, WalkerEventStopAndCheck>;

LibCarla/source/carla/nav/WalkerManager.cpp

@@ -123,8 +123,7 @@ namespace nav {
                 // stop and check
                 case SAMPLE_POLYAREA_ROAD:
                 case SAMPLE_POLYAREA_CROSS:
-                    // info.route.emplace_back(WalkerEventStopAndCheck(4), std::move(path[i]));
-                    info.route.emplace_back(WalkerEventIgnore(), std::move(path[i]));
+                    info.route.emplace_back(WalkerEventStopAndCheck(id, _nav), std::move(path[i]));
                     break;
 
                 default:

Util/BuildTools/Setup.sh

@@ -289,7 +289,7 @@ unset GTEST_BASENAME
 # -- Get Recast&Detour and compile it with libc++ ------------------------------
 # ==============================================================================
 
-RECAST_COMMIT="163651bfa4aab314a1a3e7b1c476b3cbc5e4fdf1"
+RECAST_COMMIT="8af33f0c5ae996fe4223d2d40852c5fd06cf9f36"
 RECAST_BASENAME=recast-${CXX_TAG}
 
 RECAST_INCLUDE=${PWD}/${RECAST_BASENAME}-install/include

Util/InstallersWin/install_recast.bat

@@ -38,7 +38,7 @@ set RECAST_INSTALL=recast-install
 set RECAST_INSTALL_DIR=%BUILD_DIR%%RECAST_INSTALL%\
 set RECAST_BUILD_DIR=%RECAST_SRC_DIR%build
 
-set RECAST_COMMIT="163651bfa4aab314a1a3e7b1c476b3cbc5e4fdf1"
+set RECAST_COMMIT="8af33f0c5ae996fe4223d2d40852c5fd06cf9f36"
 set RECAST_BASENAME=%RECAST_SRC%