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Bug Fix: vehicles do not vibrate and map name accessed from map object

This commit is contained in:
Manish 2019-02-25 17:38:35 +01:00
parent 331c0b04d2
commit 37f70ba184
1 changed files with 49 additions and 37 deletions
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86
PythonAPI/no_rendering_mode.py
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@ -299,25 +299,24 @@ class ModuleHUD (object):
def add_info(self, module_name, info): def add_info(self, module_name, info):
self._info_text[module_name] = info self._info_text[module_name] = info
def render_vehicles_ids(self, vehicle_id_surface, list_actors, world_to_pixel, hero_actor): def render_vehicles_ids(self, vehicle_id_surface, list_actors, world_to_pixel, hero_actor, hero_transform):
vehicle_id_surface.fill(COLOR_BLACK) vehicle_id_surface.fill(COLOR_BLACK)
if self.show_actor_ids: if self.show_actor_ids:
vehicle_id_surface.set_alpha(150) vehicle_id_surface.set_alpha(150)
for actor in list_actors: for actor in list_actors:
location = actor.get_location() x, y = world_to_pixel(actor[1].location)
x, y = world_to_pixel(location)
angle = 0 angle = 0
if hero_actor is not None: if hero_actor is not None:
angle = -hero_actor.get_transform().rotation.yaw - 90 angle = -hero_transform.rotation.yaw - 90
color = COLOR_SKY_BLUE_0 color = COLOR_SKY_BLUE_0
if int(actor.attributes['number_of_wheels']) == 2: if int(actor[0].attributes['number_of_wheels']) == 2:
color = COLOR_CHOCOLATE_0 color = COLOR_CHOCOLATE_0
if actor.attributes['role_name'] == 'hero': if actor[0].attributes['role_name'] == 'hero':
color = COLOR_CHAMELEON_0 color = COLOR_CHAMELEON_0
font_surface = self._header_font.render(str(actor.id), True, color) font_surface = self._header_font.render(str(actor[0].id), True, color)
rotated_font_surface = pygame.transform.rotate(font_surface, angle) rotated_font_surface = pygame.transform.rotate(font_surface, angle)
rect = rotated_font_surface.get_rect(center=(x, y)) rect = rotated_font_surface.get_rect(center=(x, y))
vehicle_id_surface.blit(rotated_font_surface, rect) vehicle_id_surface.blit(rotated_font_surface, rect)
@ -541,7 +540,7 @@ class ModuleWorld(object):
# World data # World data
self.world = None self.world = None
self.town_map = None self.town_map = None
self.actors_with_transforms = []
# Store necessary modules # Store necessary modules
self.module_hud = None self.module_hud = None
self.module_input = None self.module_input = None
@ -551,6 +550,8 @@ class ModuleWorld(object):
self.scaled_size = 0 self.scaled_size = 0
# Hero actor # Hero actor
self.hero_actor = None self.hero_actor = None
self.hero_transform = None
self.scale_offset = [0, 0] self.scale_offset = [0, 0]
self.vehicle_id_surface = None self.vehicle_id_surface = None
@ -622,6 +623,7 @@ class ModuleWorld(object):
actor for actor in self.world.get_actors() if 'vehicle' in actor.type_id and actor.attributes['role_name'] == 'hero'] actor for actor in self.world.get_actors() if 'vehicle' in actor.type_id and actor.attributes['role_name'] == 'hero']
if len(hero_vehicles) > 0: if len(hero_vehicles) > 0:
self.hero_actor = random.choice(hero_vehicles) self.hero_actor = random.choice(hero_vehicles)
self.hero_transform = self.hero_actor.get_transform()
else: else:
self._spawn_hero() self._spawn_hero()
@ -638,8 +640,13 @@ class ModuleWorld(object):
spawn_points = self.world.get_map().get_spawn_points() spawn_points = self.world.get_map().get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform() spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
self.hero_actor = self.world.try_spawn_actor(blueprint, spawn_point) self.hero_actor = self.world.try_spawn_actor(blueprint, spawn_point)
self.hero_transform = self.hero_actor.get_transform()
def tick(self, clock): def tick(self, clock):
actors = self.world.get_actors()
self.actors_with_transforms = [(actor, actor.get_transform()) for actor in actors]
if self.hero_actor is not None:
self.hero_transform = self.hero_actor.get_transform()
self.update_hud_info(clock) self.update_hud_info(clock)
def update_hud_info(self, clock): def update_hud_info(self, clock):
@ -677,7 +684,7 @@ class ModuleWorld(object):
'Server: % 16s FPS' % self.server_fps, 'Server: % 16s FPS' % self.server_fps,
'Client: % 16s FPS' % round(clock.get_fps()), 'Client: % 16s FPS' % round(clock.get_fps()),
'Simulation Time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)), 'Simulation Time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
'Map Name: %10s' % self.world.map_name, 'Map Name: %10s' % self.town_map.name,
] ]
module_info_text = module_info_text module_info_text = module_info_text
@ -702,22 +709,23 @@ class ModuleWorld(object):
stop_signals = [] stop_signals = []
walkers = [] walkers = []
for actor in self.world.get_actors(): for actor_with_transform in self.actors_with_transforms:
actor = actor_with_transform[0]
if 'vehicle' in actor.type_id: if 'vehicle' in actor.type_id:
vehicles.append(actor) vehicles.append(actor_with_transform)
elif 'traffic_light' in actor.type_id: elif 'traffic_light' in actor.type_id:
traffic_lights.append(actor) traffic_lights.append(actor_with_transform)
elif 'speed_limit' in actor.type_id: elif 'speed_limit' in actor.type_id:
speed_limits.append(actor) speed_limits.append(actor_with_transform)
elif 'stop' in actor.type_id: elif 'stop' in actor.type_id:
stop_signals.append(actor) stop_signals.append(actor_with_transform)
elif 'walker' in actor.type_id: elif 'walker' in actor.type_id:
walkers.append(actor) walkers.append(actor_with_transform)
info_text = [] info_text = []
if self.hero_actor is not None and len(vehicles) > 1: if self.hero_actor is not None and len(vehicles) > 1:
location = self.hero_actor.get_location() location = self.hero_transform.location
vehicle_list = [x for x in vehicles if x.id != self.hero_actor.id] vehicle_list = [x[0] for x in vehicles if x[0].id != self.hero_actor.id]
def distance(v): return location.distance(v.get_location()) def distance(v): return location.distance(v.get_location())
for n, vehicle in enumerate(sorted(vehicle_list, key=distance)): for n, vehicle in enumerate(sorted(vehicle_list, key=distance)):
@ -763,7 +771,7 @@ class ModuleWorld(object):
# Blit # Blit
if self.hero_actor is not None: if self.hero_actor is not None:
# Rotate font surface with respect to hero vehicle front # Rotate font surface with respect to hero vehicle front
angle = -self.hero_actor.get_transform().rotation.yaw - 90.0 angle = -self.hero_transform.rotation.yaw - 90.0
font_surface = pygame.transform.rotate(font_surface, angle) font_surface = pygame.transform.rotate(font_surface, angle)
offset = font_surface.get_rect(center=(x, y)) offset = font_surface.get_rect(center=(x, y))
surface.blit(font_surface, offset) surface.blit(font_surface, offset)
@ -776,27 +784,27 @@ class ModuleWorld(object):
color = COLOR_PLUM_0 color = COLOR_PLUM_0
# Compute bounding box points # Compute bounding box points
bb = w.bounding_box.extent bb = w[0].bounding_box.extent
corners = [ corners = [
carla.Location(x=-bb.x, y=-bb.y), carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x, y=-bb.y), carla.Location(x=bb.x, y=-bb.y),
carla.Location(x=bb.x, y=bb.y), carla.Location(x=bb.x, y=bb.y),
carla.Location(x=-bb.x, y=bb.y)] carla.Location(x=-bb.x, y=bb.y)]
t = w.get_transform() w[1].transform(corners)
t.transform(corners)
corners = [world_to_pixel(p) for p in corners] corners = [world_to_pixel(p) for p in corners]
pygame.draw.polygon(surface, color, corners) pygame.draw.polygon(surface, color, corners)
def _render_vehicles(self, surface, list_v, world_to_pixel, world_to_pixel_width, scale_factor): def _render_vehicles(self, surface, list_v, world_to_pixel, world_to_pixel_width, scale_factor):
for v in list_v: for v in list_v:
color = COLOR_SKY_BLUE_0 color = COLOR_SKY_BLUE_0
if int(v.attributes['number_of_wheels']) == 2: if int(v[0].attributes['number_of_wheels']) == 2:
color = COLOR_CHOCOLATE_1 color = COLOR_CHOCOLATE_1
if v.attributes['role_name'] == 'hero': if v[0].attributes['role_name'] == 'hero':
color = COLOR_CHAMELEON_0 color = COLOR_CHAMELEON_0
# Compute bounding box points # Compute bounding box points
bb = v.bounding_box.extent bb = v[0].bounding_box.extent
corners = [carla.Location(x=-bb.x, y=-bb.y), corners = [carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x - 0.8, y=-bb.y), carla.Location(x=bb.x - 0.8, y=-bb.y),
carla.Location(x=bb.x, y=0), carla.Location(x=bb.x, y=0),
@ -804,8 +812,7 @@ class ModuleWorld(object):
carla.Location(x=-bb.x, y=bb.y), carla.Location(x=-bb.x, y=bb.y),
carla.Location(x=-bb.x, y=-bb.y) carla.Location(x=-bb.x, y=-bb.y)
] ]
t = v.get_transform() v[1].transform(corners)
t.transform(corners)
corners = [world_to_pixel(p) for p in corners] corners = [world_to_pixel(p) for p in corners]
pygame.draw.lines(surface, color, False, corners, int(math.ceil(4.0 * self.map_image.scale))) pygame.draw.lines(surface, color, False, corners, int(math.ceil(4.0 * self.map_image.scale)))
@ -834,7 +841,7 @@ class ModuleWorld(object):
# Blit # Blit
if self.hero_actor is not None: if self.hero_actor is not None:
# Rotate font surface with respect to hero vehicle front # Rotate font surface with respect to hero vehicle front
angle = -self.hero_actor.get_transform().rotation.yaw - 90.0 angle = -self.hero_transform.rotation.yaw - 90.0
font_surface = pygame.transform.rotate(font_surface, angle) font_surface = pygame.transform.rotate(font_surface, angle)
offset = font_surface.get_rect(center=(x, y)) offset = font_surface.get_rect(center=(x, y))
surface.blit(font_surface, offset) surface.blit(font_surface, offset)
@ -843,15 +850,18 @@ class ModuleWorld(object):
surface.blit(font_surface, (x - font_surface.get_width() / 2, y - font_surface.get_height() / 2)) surface.blit(font_surface, (x - font_surface.get_width() / 2, y - font_surface.get_height() / 2))
def render_actors(self, surface, vehicles, traffic_lights, speed_limits, stop_signals, walkers, scale_factor): def render_actors(self, surface, vehicles, traffic_lights, speed_limits, stop_signals, walkers, scale_factor):
# Dynamic actors
self._render_vehicles(surface, vehicles, self.map_image.world_to_pixel, self._render_vehicles(surface, vehicles, self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width, scale_factor) self.map_image.world_to_pixel_width, scale_factor)
self._render_traffic_lights(surface, traffic_lights, self.map_image.world_to_pixel)
self._render_speed_limits(surface, speed_limits, self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width)
self._render_stop_signals(surface, stop_signals, self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width)
self._render_walkers(surface, walkers, self.map_image.world_to_pixel) self._render_walkers(surface, walkers, self.map_image.world_to_pixel)
# Static actors
self._render_traffic_lights(surface, [tl[0] for tl in traffic_lights], self.map_image.world_to_pixel)
self._render_speed_limits(surface, [sl[0] for sl in speed_limits], self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width)
self._render_stop_signals(surface, [ss[0] for ss in stop_signals], self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width)
def clip_surfaces(self, clipping_rect): def clip_surfaces(self, clipping_rect):
self.actors_surface.set_clip(clipping_rect) self.actors_surface.set_clip(clipping_rect)
self.vehicle_id_surface.set_clip(clipping_rect) self.vehicle_id_surface.set_clip(clipping_rect)
@ -879,6 +889,8 @@ class ModuleWorld(object):
self.map_image.scale_map(scale_factor) self.map_image.scale_map(scale_factor)
def render(self, display): def render(self, display):
if self.actors_with_transforms is None:
return
self.result_surface.fill(COLOR_BLACK) self.result_surface.fill(COLOR_BLACK)
vehicles, traffic_lights, speed_limits, stop_signals, walkers = self._split_actors() vehicles, traffic_lights, speed_limits, stop_signals, walkers = self._split_actors()
@ -901,7 +913,7 @@ class ModuleWorld(object):
# Render Ids # Render Ids
self.module_hud.render_vehicles_ids(self.vehicle_id_surface, vehicles, self.module_hud.render_vehicles_ids(self.vehicle_id_surface, vehicles,
self.map_image.world_to_pixel, self.hero_actor) self.map_image.world_to_pixel, self.hero_actor, self.hero_transform)
# Blit surfaces # Blit surfaces
surfaces = ((self.map_image.surface, (0, 0)), surfaces = ((self.map_image.surface, (0, 0)),
@ -909,14 +921,14 @@ class ModuleWorld(object):
(self.vehicle_id_surface, (0, 0)), (self.vehicle_id_surface, (0, 0)),
) )
angle = 0.0 if self.hero_actor is None else self.hero_actor.get_transform().rotation.yaw + 90.0 angle = 0.0 if self.hero_actor is None else self.hero_transform.rotation.yaw + 90.0
self.traffic_light_surfaces.rotozoom(-angle, self.map_image.scale) self.traffic_light_surfaces.rotozoom(-angle, self.map_image.scale)
center_offset = (0, 0) center_offset = (0, 0)
if self.hero_actor is not None: if self.hero_actor is not None:
hero_location_screen = self.map_image.world_to_pixel(self.hero_actor.get_location()) hero_location_screen = self.map_image.world_to_pixel(self.hero_transform.location)
hero_front = self.hero_actor.get_transform().get_forward_vector() hero_front = self.hero_transform.get_forward_vector()
translation_offset = (hero_location_screen[0] - self.hero_surface.get_width() / 2 + hero_front.x * PIXELS_AHEAD_VEHICLE, translation_offset = (hero_location_screen[0] - self.hero_surface.get_width() / 2 + hero_front.x * PIXELS_AHEAD_VEHICLE,
(hero_location_screen[1] - self.hero_surface.get_height() / 2 + hero_front.y * PIXELS_AHEAD_VEHICLE)) (hero_location_screen[1] - self.hero_surface.get_height() / 2 + hero_front.y * PIXELS_AHEAD_VEHICLE))
@ -946,7 +958,7 @@ class ModuleWorld(object):
# Translation offset # Translation offset
translation_offset = (self.module_input.mouse_offset[0] * scale_factor + self.scale_offset[0], translation_offset = (self.module_input.mouse_offset[0] * scale_factor + self.scale_offset[0],
self.module_input.mouse_offset[1] * scale_factor + self.scale_offset[1]) self.module_input.mouse_offset[1] * scale_factor + self.scale_offset[1])
center_offset = ((display.get_width() - self.surface_size) / 2 * scale_factor, 0) center_offset = (abs(display.get_width() - self.surface_size) / 2 * scale_factor, 0)
# Apply clipping rect # Apply clipping rect
clipping_rect = pygame.Rect(-translation_offset[0] - center_offset[0], -translation_offset[1], clipping_rect = pygame.Rect(-translation_offset[0] - center_offset[0], -translation_offset[1],