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Fixes from Pull Request review

This commit is contained in:
bernatx 2019-11-20 10:59:00 +01:00 committed by bernat
parent 18a89f410c
commit 41f47ed8a9
8 changed files with 64 additions and 149 deletions
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2
LibCarla/source/carla/AtomicList.h
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@ -9,9 +9,9 @@
#include "carla/AtomicSharedPtr.h"
#include "carla/NonCopyable.h"
#include <algorithm>
#include <mutex>
#include <vector>
#include <algorithm>
namespace carla {
namespace client {

65
LibCarla/source/carla/client/detail/WalkerNavigation.cpp
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@ -99,71 +99,6 @@ namespace detail {
// update the vehicles found
_nav.UpdateVehicles(vehicles);
/*
// draw vehicle bounding boxes for debug
if (_nav.GetCrowd() == nullptr) return;
for (int i = 0; i < _nav.GetCrowd()->getAgentCount(); ++i) {
// get the agent
const dtCrowdAgent *agent = _nav.GetCrowd()->getAgent(i);
if (agent && agent->params.useObb) {
// draw for debug
carla::geom::Location p1, p2, p3, p4;
p1.x = agent->params.obb[0];
p1.z = agent->params.obb[1];
p1.y = agent->params.obb[2];
p2.x = agent->params.obb[3];
p2.z = agent->params.obb[4];
p2.y = agent->params.obb[5];
p3.x = agent->params.obb[6];
p3.z = agent->params.obb[7];
p3.y = agent->params.obb[8];
p4.x = agent->params.obb[9];
p4.z = agent->params.obb[10];
p4.y = agent->params.obb[11];
carla::rpc::DebugShape line1;
line1.life_time = 0.01f;
line1.persistent_lines = false;
// line 1
line1.primitive = std::move(carla::rpc::DebugShape::Line {p1, p2, 0.2});
line1.color = { 0, 255, 0 };
_client.DrawDebugShape(line1);
// line 2
line1.primitive = std::move(carla::rpc::DebugShape::Line {p2, p3, 0.2});
line1.color = { 255, 0, 0 };
_client.DrawDebugShape(line1);
// line 3
line1.primitive = std::move(carla::rpc::DebugShape::Line {p3, p4, 0.2});
line1.color = { 0, 0, 255 };
_client.DrawDebugShape(line1);
// line 4
line1.primitive = std::move(carla::rpc::DebugShape::Line {p4, p1, 0.2});
line1.color = { 255, 255, 0 };
_client.DrawDebugShape(line1);
}
}
*/
/*
// draw speed text for debug
if (_nav.GetCrowd() == nullptr) return;
for (int i = 0; i < _nav.GetCrowd()->getAgentCount(); ++i) {
// get the agent
const dtCrowdAgent *agent = _nav.GetCrowd()->getAgent(i);
if (agent) {
// draw for debug
carla::geom::Location p1(agent->npos[0], agent->npos[2], agent->npos[1] + 1);
float speed = carla::geom::Vector3D(agent->vel[0], agent->vel[1], agent->vel[2]).Length();
std::ostringstream out;
out << speed;
carla::rpc::DebugShape text;
text.life_time = 0.01f;
text.persistent_lines = false;
text.primitive = std::move(carla::rpc::DebugShape::String {p1, out.str(), false});
text.color = { 0, 255, 0 };
_client.DrawDebugShape(text);
}
}
*/
}
} // namespace detail

51
LibCarla/source/carla/nav/Navigation.cpp
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@ -21,14 +21,13 @@ namespace carla {
namespace nav {
enum SamplePolyFlags {
SAMPLE_POLYFLAGS_WALK = 0x01, // Ability to walk (ground, grass,
// road)
SAMPLE_POLYFLAGS_WALK = 0x01, // Ability to walk (sidewalks, crosswalks)
SAMPLE_POLYFLAGS_SWIM = 0x02, // Ability to swim (water).
SAMPLE_POLYFLAGS_DOOR = 0x04, // Ability to move through doors.
SAMPLE_POLYFLAGS_JUMP = 0x08, // Ability to jump.
SAMPLE_POLYFLAGS_DISABLED = 0x10, // Disabled polygon
SAMPLE_POLYFLAGS_ROAD = 0x20, // Ability to walk on road
SAMPLE_POLYFLAGS_GRASS = 0x40, // Ability to walk on grass
SAMPLE_POLYFLAGS_ROAD = 0x20, // Ability to walk on road
SAMPLE_POLYFLAGS_GRASS = 0x40, // Ability to walk on grass
SAMPLE_POLYFLAGS_ALL = 0xffff // All abilities.
};
@ -211,7 +210,8 @@ namespace nav {
// create and init
_crowd = dtAllocCrowd();
if (!_crowd->init(MAX_AGENTS, AGENT_RADIUS * 20, _navMesh)) {
const float maxAgentRadius = AGENT_RADIUS * 20;
if (!_crowd->init(MAX_AGENTS, maxAgentRadius, _navMesh)) {
logging::log("Nav: failed to create crowd");
return;
}
@ -375,7 +375,7 @@ namespace nav {
float m_straightPath[MAX_POLYS * 3];
unsigned char m_straightPathFlags[MAX_POLYS];
dtPolyRef m_straightPathPolys[MAX_POLYS];
int m_nstraightPath;
int m_nstraightPath = 0;
int m_straightPathOptions = DT_STRAIGHTPATH_AREA_CROSSINGS;
// polys in path
@ -390,11 +390,8 @@ namespace nav {
DEBUG_ASSERT(_navQuery != nullptr);
// point extension
float m_polyPickExt[3];
m_polyPickExt[0] = 2;
m_polyPickExt[1] = 4;
m_polyPickExt[2] = 2;
float m_polyPickExt[3] = {2,4,2};
// get current filter from agent
auto it = _mappedWalkersId.find(id);
if (it == _mappedWalkersId.end())
@ -430,7 +427,6 @@ namespace nav {
}
// get the path of points
m_nstraightPath = 0;
if (m_npolys == 0) {
return false;
}
@ -618,10 +614,6 @@ namespace nav {
// flags
params.updateFlags = 0;
// params.updateFlags |= DT_CROWD_ANTICIPATE_TURNS;
// params.updateFlags |= DT_CROWD_OPTIMIZE_VIS;
// params.updateFlags |= DT_CROWD_OPTIMIZE_TOPO;
// params.updateFlags |= DT_CROWD_OBSTACLE_AVOIDANCE;
params.updateFlags |= DT_CROWD_SEPARATION;
// update its oriented bounding box
@ -690,7 +682,6 @@ namespace nav {
_crowd->removeAgent(it->second);
}
_walkerManager.RemoveWalker(id);
logging::log("Nav: removing walker agent", id);
// remove from mapping
_mappedWalkersId.erase(it);
_mappedByIndex.erase(it->second);
@ -707,7 +698,6 @@ namespace nav {
std::lock_guard<std::mutex> lock(_mutex);
_crowd->removeAgent(it->second);
}
// logging::log("Nav: removing vehicle agent", id);
// remove from mapping
_mappedVehiclesId.erase(it);
_mappedByIndex.erase(it->second);
@ -1080,8 +1070,8 @@ namespace nav {
// filter
dtQueryFilter filter2;
if (filter == nullptr) {
filter2.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
filter2.setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED | SAMPLE_POLYFLAGS_ROAD | SAMPLE_POLYFLAGS_GRASS);
filter2.setIncludeFlags(SAMPLE_POLYFLAGS_WALK);
filter2.setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED);
filter = &filter2;
}
@ -1090,21 +1080,16 @@ namespace nav {
float point[3] { 0.0f, 0.0f, 0.0f };
{
dtStatus status;
// critical section, force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
do {
dtStatus status = _navQuery->findRandomPoint(filter, frand, &randomRef, point);
if (status == DT_SUCCESS) {
// set the location in Unreal coords
location.x = point[0];
location.y = point[2];
location.z = point[1];
// check for max height (to avoid roofs, it is a workaround until next version)
if (maxHeight == -1.0f || (maxHeight >= 0.0f && location.z <= maxHeight)) {
break;
}
}
} while (1);
status = _navQuery->findRandomPoint(filter, frand, &randomRef, point);
// set the location in Unreal coords
location.x = point[0];
location.y = point[2];
location.z = point[1];
} while (status != DT_SUCCESS);
}
return true;
@ -1164,7 +1149,7 @@ namespace nav {
// mark
agent->paused = pause;
}
bool Navigation::hasVehicleNear(ActorId id) {
// get the internal index (walker or vehicle)
auto it = _mappedWalkersId.find(id);

4
LibCarla/source/carla/nav/Navigation.h
View File

@ -30,7 +30,7 @@ namespace nav {
SAMPLE_POLYAREA_DOOR,
SAMPLE_POLYAREA_GRASS,
SAMPLE_POLYAREA_JUMP,
SAMPLE_POLYAREA_CROSS
SAMPLE_POLYAREA_CROSS
};
/// struct to send info about vehicles to the crowd
@ -127,7 +127,7 @@ namespace nav {
mutable std::mutex _mutex;
float _probabilityCrossing { 0.05f };
float _probabilityCrossing { 0.0f };
/// assign a filter index to an agent
void SetAgentFilter(int agentIndex, int filterIndex);

7
LibCarla/source/carla/nav/WalkerEvent.h
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@ -16,28 +16,33 @@ namespace nav {
class Navigation;
class WalkerManager;
/// result of an event
enum class EventResult : uint8_t {
Continue,
End,
TimeOut
};
/// empty event that just ignores
struct WalkerEventIgnore {
};
/// event to wait for a while
struct WalkerEventWait {
double time;
WalkerEventWait(double duration) : time(duration) {};
};
/// event to pause and check for near vehicles
struct WalkerEventStopAndCheck {
double time;
WalkerEventStopAndCheck(double duration) : time(duration) {};
};
/// walker event variant
using WalkerEvent = boost::variant<WalkerEventIgnore, WalkerEventWait, WalkerEventStopAndCheck>;
// visitor class
/// visitor class
class WalkerEventVisitor {
public:
WalkerEventVisitor(WalkerManager *manager, ActorId id, double delta) : _manager(manager), _id(id), _delta(delta) {};

71
LibCarla/source/carla/nav/WalkerManager.h
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@ -7,45 +7,36 @@
#pragma once
#include "carla/NonCopyable.h"
// #include "carla/AtomicList.h"
// #include "carla/client/detail/EpisodeState.h"
// #include "carla/geom/BoundingBox.h"
#include "carla/geom/Location.h"
#include "carla/nav/WalkerEvent.h"
// #include "carla/geom/Transform.h"
#include "carla/rpc/ActorId.h"
// #include <recast/Recast.h>
// #include <recast/DetourCrowd.h>
// #include <recast/DetourNavMesh.h>
// #include <recast/DetourNavMeshBuilder.h>
// #include <recast/DetourNavMeshQuery.h>
// #include <recast/DetourCommon.h>
namespace carla {
namespace nav {
class Navigation;
class Navigation;
enum WalkerState {
WALKER_IDLE,
WALKER_WALKING,
WALKER_IN_EVENT,
WALKER_STOP
};
enum WalkerState {
WALKER_IDLE,
WALKER_WALKING,
WALKER_IN_EVENT,
WALKER_STOP
};
struct WalkerRoutePoint {
WalkerEvent event;
carla::geom::Location location;
WalkerRoutePoint(WalkerEvent ev, carla::geom::Location loc) : event(ev), location(loc) {};
};
struct WalkerRoutePoint {
WalkerEvent event;
carla::geom::Location location;
WalkerRoutePoint(WalkerEvent ev, carla::geom::Location loc) : event(ev), location(loc) {};
};
struct WalkerInfo {
carla::geom::Location from;
carla::geom::Location to;
unsigned int currentIndex { 0 };
WalkerState state;
std::vector<WalkerRoutePoint> route;
};
struct WalkerInfo {
carla::geom::Location from;
carla::geom::Location to;
unsigned int currentIndex { 0 };
WalkerState state;
std::vector<WalkerRoutePoint> route;
};
class WalkerManager : private NonCopyable {
@ -54,34 +45,34 @@ namespace nav {
WalkerManager();
~WalkerManager();
/// assign the navigation module
void SetNav(Navigation *nav) { _nav = nav; };
/// assign the navigation module
void SetNav(Navigation *nav) { _nav = nav; };
/// create a new walker route
/// create a new walker route
bool AddWalker(ActorId id);
/// remove a walker route
/// remove a walker route
bool RemoveWalker(ActorId id);
/// update all routes
/// update all routes
bool Update(double delta);
/// set a new route from its current position
/// set a new route from its current position
bool SetWalkerRoute(ActorId id);
bool SetWalkerRoute(ActorId id, carla::geom::Location to);
/// set the next point in the route
/// set the next point in the route
bool SetWalkerNextPoint(ActorId id);
/// return the navigation object
Navigation *GetNavigation() { return _nav; };
/// return the navigation object
Navigation *GetNavigation() { return _nav; };
private:
private:
EventResult ExecuteEvent(ActorId id, WalkerInfo &info, double delta);
std::unordered_map<ActorId, WalkerInfo> _walkers;
Navigation *_nav { nullptr };
Navigation *_nav { nullptr };
};
} // namespace nav

4
PythonAPI/examples/manual_control.py
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@ -190,8 +190,6 @@ class World(object):
self.player_max_speed = float(blueprint.get_attribute('speed').recommended_values[1])
self.player_max_speed_fast = float(blueprint.get_attribute('speed').recommended_values[2])
else:
self.player_max_speed = 1.5
self.player_max_speed_fast = 30
print("No recommended values for 'speed' attribute")
# Spawn the player.
if self.player is not None:
@ -384,8 +382,6 @@ class KeyboardControl(object):
self._control.speed = .01
self._rotation.yaw += 0.08 * milliseconds
if keys[K_UP] or keys[K_w]:
print(world.player_max_speed)
print(world.player_max_speed_fast)
self._control.speed = world.player_max_speed_fast if pygame.key.get_mods() & KMOD_SHIFT else world.player_max_speed
self._control.jump = keys[K_SPACE]
self._rotation.yaw = round(self._rotation.yaw, 1)

9
PythonAPI/examples/spawn_npc.py
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@ -130,6 +130,9 @@ def main():
# -------------
# Spawn Walkers
# -------------
# some settings
percentagePedestriansRunning = 0.1 # how many pedestrians will run
percentagePedestriansCrossing = 0.01 # how many pedestrians will walk through the road
# 1. take all the random locations to spawn
spawn_points = []
for i in range(args.number_of_walkers):
@ -148,7 +151,7 @@ def main():
walker_bp.set_attribute('is_invincible', 'false')
# set the max speed
if walker_bp.has_attribute('speed'):
if (random.random() > 0.1):
if (random.random() > percentagePedestriansRunning):
# walking
walker_speed.append(walker_bp.get_attribute('speed').recommended_values[1])
else:
@ -189,7 +192,7 @@ def main():
# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
# set how many pedestrians can cross the road
world.set_pedestrians_cross_factor(0.01)
world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
@ -214,7 +217,7 @@ def main():
print('\ndestroying %d walkers' % len(walkers_list))
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
time.sleep(0.5)
if __name__ == '__main__':