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Aaron/floorheightfix (#5909) 

* Added local frame option. Fixed inputs for NN

* Add Textures

* Changed texture to grayscale RGB and added check for 'air' particles

* Updated 2k and 4k textures enable parameter for select res texture for deformation

* Fix issue where trying to access TMap when loading

* Use contains functions instead of checking num of elemnts on tmap to make a secure access

* Used ParticlesHeightmap optimization and clear some log

* Fixed number of particles inputs. Removed debug output. Fixed mutex creating cpu stalls

* Decoupling visualization with gamethread

* Make work optimisations

* Disable deformation visualization

* Updated collisions parameters, collisions itself are not updated

* Disable Collisions vehicle with landscape

* Add in pytorch output wheel normal and put them into UE4 and apply to wheels

* Added factors based on distance, never negative, check if there are particles

* Fix compilation error

* Removed unused code and normals related code

* Fixed compiling error

* Fix floor height

Co-authored-by: Axel <axellopez92@outlook.com>
This commit is contained in:
Blyron 2022-11-03 16:03:17 +01:00 committed by GitHub
parent f963a4b2c3
commit 1d6fa23770
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 8 additions and 9 deletions
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12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp
View File

@ -184,6 +184,7 @@ void FDenseTile::InitializeTile(uint32_t TextureSize, float AffectedRadius, floa
PartialHeightMapSize = TileSize * TextureSize / (2*AffectedRadius);
std::string FileName = std::string(TCHAR_TO_UTF8(*( SavePath + TileOrigin.ToString() + ".tile" ) ) );
//UE_LOG(LogCarla, Log, TEXT("Tile origin %s"), *TileOrigin.ToString() );
if( FPaths::FileExists(FString(FileName.c_str())) )
{
@ -214,7 +215,6 @@ void FDenseTile::InitializeTile(uint32_t TextureSize, float AffectedRadius, floa
{
FDVector ParticleLocalPosition = FDVector(i*ParticleSize, j*ParticleSize, 0.0f);
FDVector ParticlePosition = TileOrigin + ParticleLocalPosition;
// UE_LOG(LogCarla, Log, TEXT(" Particle position %s"), *ParticlePosition.ToString());
float Height = HeightMap.GetHeight(ParticlePosition);
for(uint32_t k = 0; k < NumParticles_Z; k++)
{
@ -617,11 +617,8 @@ FDVector FSparseHighDetailMap::GetTilePosition(uint64_t TileId)
FDVector FSparseHighDetailMap::GetTilePosition(uint32_t Tile_X, uint32_t Tile_Y)
{
FDVector Position = FDVector(Tile_X*TileSize, Tile_Y*TileSize, 0);
FDVector Position = FDVector(Tile_X*TileSize, Tile_Y*TileSize, FloorHeight);
Position = Position + Tile0Position;
//UE_LOG(LogCarla, Log, TEXT("Getting location from id (%lu, %lu) %s"),
// (unsigned long)Tile_X, (unsigned long)Tile_Y, *(Position).ToString());
return Position;
}
@ -1272,7 +1269,7 @@ void UCustomTerrainPhysicsComponent::BeginPlay()
UE_LOG(LogCarla, Warning,
TEXT("ParticleDiameter %f"), ParticleDiameter);
SparseMap.Init(TextureToUpdate->GetSizeX(), TextureRadius, ParticleDiameter * CMToM, TerrainDepth * CMToM);
SparseMap.Init(TextureToUpdate->GetSizeX(), TextureRadius, ParticleDiameter * CMToM, TerrainDepth * CMToM, FloorHeight * CMToM );
RootComponent = Cast<UPrimitiveComponent>(GetOwner()->GetRootComponent());
if(LargeMapManager)
{
@ -1281,7 +1278,6 @@ void UCustomTerrainPhysicsComponent::BeginPlay()
// UE_LOG(LogCarla, Log,
// TEXT("World Size %s"), *(WorldSize.ToString()));
}
Tile0Origin.Z += FloorHeight;
// SparseMap.InitializeMap(HeightMap, UEFrameToSI(Tile0Origin), UEFrameToSI(WorldSize),
// 1.f, MinHeight, MaxHeight, HeightMapScaleFactor.Z);
if (DataAsset)
@ -1460,7 +1456,7 @@ void UCustomTerrainPhysicsComponent::TickComponent(float DeltaTime,
FVector TilePosition = HeightMapOffset + LargeMapManager->GetTileLocation(CurrentLargeMapTileId) - 0.5f*FVector(LargeMapManager->GetTileSize(), -LargeMapManager->GetTileSize(), 0);
UE_LOG(LogCarla, Log, TEXT("Updating height map to location %s in tile location %s"),
*TilePosition.ToString(), *LargeMapManager->GetTileLocation(CurrentLargeMapTileId).ToString());
TilePosition.Z += FloorHeight;
TilePosition.Z += UEFrameToSI(FloorHeight) ;
SparseMap.UpdateHeightMap(
HeightMapDataAsset, UEFrameToSI(TilePosition), UEFrameToSI(FVector(
LargeMapManager->GetTileSize(),-LargeMapManager->GetTileSize(), 0)),

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.h
View File

@ -115,12 +115,14 @@ public:
FSparseHighDetailMap(float ParticleDiameter = 0.02f, float Depth = 0.4f)
: ParticleSize(ParticleDiameter), TerrainDepth(Depth) {};
void Init( uint32 NewTextureSize, float NewAffectedRadius, float ParticleDiameter, float Depth)
void Init( uint32 NewTextureSize, float NewAffectedRadius, float ParticleDiameter,
float Depth, float NewFloorHeight )
{
ParticleSize = ParticleDiameter;
TerrainDepth = Depth;
TextureSize = NewTextureSize;
AffectedRadius = NewAffectedRadius;
FloorHeight = NewFloorHeight;
UE_LOG(LogCarla, Warning,
TEXT("ParticleSize %f"), ParticleSize);
}
@ -211,6 +213,7 @@ private:
FHeightMapData Heightmap;
float ParticleSize = 0.02f;
float TerrainDepth = 0.4f;
float FloorHeight = 0.0f;
uint32 TextureSize = 0;
float AffectedRadius = 0.0f;
FVector PositionToUpdate;