#22 Add road segment class

Source/Carla/MapGen/StaticMeshCollection.cpp

@@ -0,0 +1,53 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#include "Carla.h"
+#include "StaticMeshCollection.h"
+
+#include "Components/InstancedStaticMeshComponent.h"
+#include "Engine/StaticMesh.h"
+
+AStaticMeshCollection::AStaticMeshCollection(
+  const FObjectInitializer& ObjectInitializer) :
+  Super(ObjectInitializer)
+{
+  PrimaryActorTick.bCanEverTick = false;
+  RootComponent =
+      ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this, TEXT("SceneComponent"));
+  RootComponent->SetMobility(EComponentMobility::Static);
+}
+
+void AStaticMeshCollection::PushBackInstantiator(UStaticMesh *Mesh)
+{
+  auto Instantiator = NewObject<UInstancedStaticMeshComponent>(this);
+  check(Instantiator != nullptr);
+  Instantiator->SetMobility(EComponentMobility::Static);
+  Instantiator->SetupAttachment(RootComponent);
+  Instantiator->SetStaticMesh(Mesh);
+  Instantiator->RegisterComponent();
+  MeshInstatiators.Add(Instantiator);
+}
+
+void AStaticMeshCollection::SetStaticMesh(uint32 i, UStaticMesh *Mesh)
+{
+  check(GetNumberOfInstantiators() > i);
+  MeshInstatiators[i]->SetStaticMesh(Mesh);
+}
+
+void AStaticMeshCollection::AddInstance(uint32 i, const FTransform &Transform)
+{
+  check(GetNumberOfInstantiators() > i);
+  MeshInstatiators[i]->AddInstance(Transform);
+}
+
+void AStaticMeshCollection::ClearInstances()
+{
+  for (auto *Instantiator : MeshInstatiators) {
+    Instantiator->ClearInstances();
+  }
+}
+
+void AStaticMeshCollection::ClearInstantiators()
+{
+  ClearInstances();
+  MeshInstatiators.Empty();
+}

Source/Carla/MapGen/StaticMeshCollection.h

@@ -0,0 +1,42 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "GameFramework/Actor.h"
+#include "StaticMeshCollection.generated.h"
+
+class UInstancedStaticMeshComponent;
+
+/// Holds static mesh instatiators.
+UCLASS(Abstract)
+class CARLA_API AStaticMeshCollection : public AActor
+{
+  GENERATED_BODY()
+
+public:
+
+  AStaticMeshCollection(const FObjectInitializer& ObjectInitializer);
+
+protected:
+
+  uint32 GetNumberOfInstantiators() const
+  {
+    return MeshInstatiators.Num();
+  }
+
+  void PushBackInstantiator(UStaticMesh *Mesh);
+
+  void SetStaticMesh(uint32 i, UStaticMesh *Mesh);
+
+  void AddInstance(uint32 i, const FTransform &Transform);
+
+  void ClearInstances();
+
+  /// Clear the instances too.
+  void ClearInstantiators();
+
+private:
+
+  UPROPERTY(Category = "Instanced Static Mesh Collection", VisibleAnywhere)
+  TArray<UInstancedStaticMeshComponent *> MeshInstatiators;
+};

Source/Carla/RoadSegment.cpp

@@ -0,0 +1,84 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#include "Carla.h"
+#include "RoadSegment.h"
+
+#include "Engine/StaticMesh.h"
+
+enum RoadSegmentItems {
+  ELaneLeft,
+  ELaneRight,
+  ESidewalkLeft,
+  ESidewalkRight,
+  ELaneMarkingSolid,
+  ELaneMarkingBroken,
+  NUMBER_OF_ITEMS
+};
+
+ARoadSegment::ARoadSegment(const FObjectInitializer& ObjectInitializer) :
+  Super(ObjectInitializer)
+{
+  PrimaryActorTick.bCanEverTick = false;
+}
+
+void ARoadSegment::OnConstruction(const FTransform &Transform)
+{
+  Super::OnConstruction(Transform);
+  UpdateMeshes();
+}
+
+#if WITH_EDITOR
+void ARoadSegment::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
+{
+  Super::PostEditChangeProperty(PropertyChangedEvent);
+  if (PropertyChangedEvent.Property) {
+    GenerateRoad();
+  }
+}
+#endif // WITH_EDITOR
+
+void ARoadSegment::GenerateRoad()
+{
+  UpdateMeshes();
+  UpdateRoad();
+}
+
+void ARoadSegment::UpdateMeshes()
+{
+  if (GetNumberOfInstantiators() != NUMBER_OF_ITEMS) {
+    ClearInstantiators();
+    for (auto i = 0u; i < NUMBER_OF_ITEMS; ++i) {
+      PushBackInstantiator(nullptr);
+    }
+  }
+  SetStaticMesh(ELaneLeft, LaneLeft);
+  SetStaticMesh(ELaneRight, LaneRight);
+  SetStaticMesh(ESidewalkLeft, SidewalkLeft);
+  SetStaticMesh(ESidewalkRight, SidewalkRight);
+  SetStaticMesh(ELaneMarkingSolid, LaneMarkingSolid);
+  SetStaticMesh(ELaneMarkingBroken, LaneMarkingBroken);
+}
+
+void ARoadSegment::UpdateRoad()
+{
+  ClearInstances();
+  Scale = (LaneLeft != nullptr ? LaneLeft->GetBoundingBox().GetSize().X : 1.0f);
+  FVector Translation(0.0f, 0.0f, 0.0f);
+  for (auto &Item : RoadDescription) {
+    FTransform Transform{Translation};
+    AddInstance(ELaneLeft, Transform);
+    AddInstance(ELaneRight, Transform);
+    if (Item.bHasRightSidewalk) {
+      AddInstance(ESidewalkRight, Transform);
+    }
+    if (Item.bHasLeftSidewalk) {
+      AddInstance(ESidewalkLeft, Transform);
+    }
+    if (Item.LaneMarking == ELaneMarkingType::Solid) {
+      AddInstance(ELaneMarkingSolid, Transform);
+    } else if (Item.LaneMarking == ELaneMarkingType::Broken) {
+      AddInstance(ELaneMarkingBroken, Transform);
+    }
+    Translation.X += Scale;
+  }
+}

Source/Carla/RoadSegment.h

@@ -0,0 +1,136 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "MapGen/StaticMeshCollection.h"
+#include "RoadSegment.generated.h"
+
+UENUM(BlueprintType)
+enum class ELaneMarkingType : uint8
+{
+  None        UMETA(DisplayName = "None"),
+  Solid       UMETA(DisplayName = "Solid Lane Marking"),
+  Broken      UMETA(DisplayName = "Broken Lane Marking")
+};
+
+/// Description of a road segment piece.
+USTRUCT()
+struct FRoadSegmentPiece
+{
+  GENERATED_BODY()
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  bool bHasLeftSidewalk = true;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  bool bHasRightSidewalk = true;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  ELaneMarkingType LaneMarking = ELaneMarkingType::Solid;
+};
+
+/// A straight segment of road.
+///
+/// Please call GenerateRoad after modifying it.
+UCLASS()
+class CARLA_API ARoadSegment : public AStaticMeshCollection
+{
+  GENERATED_BODY()
+
+public:
+
+  ARoadSegment(const FObjectInitializer& ObjectInitializer);
+
+  virtual void OnConstruction(const FTransform &Transform) override;
+
+#if WITH_EDITOR
+  virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
+#endif // WITH_EDITOR
+
+  UFUNCTION(BlueprintCallable, Category="Road Description")
+  void GenerateRoad();
+
+  UFUNCTION(BlueprintCallable, Category="Road Description")
+  int32 GetNumberOfPieces() const
+  {
+    return RoadDescription.Num();
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Road Description")
+  void AppendPiece(const FRoadSegmentPiece &RoadSegmentPiece)
+  {
+    RoadDescription.Add(RoadSegmentPiece);
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Road Description")
+  void RemoveAllPieces()
+  {
+    RoadDescription.Empty();
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Set Static Mesh")
+  void SetStaticMesh_LaneLeft(UStaticMesh *StaticMesh)
+  {
+    LaneLeft = StaticMesh;
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Set Static Mesh")
+  void SetStaticMesh_LaneRight(UStaticMesh *StaticMesh)
+  {
+    LaneRight = StaticMesh;
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Set Static Mesh")
+  void SetStaticMesh_SidewalkLeft(UStaticMesh *StaticMesh)
+  {
+    SidewalkLeft = StaticMesh;
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Set Static Mesh")
+  void SetStaticMesh_SidewalkRight(UStaticMesh *StaticMesh)
+  {
+    SidewalkRight = StaticMesh;
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Set Static Mesh")
+  void SetStaticMesh_LaneMarkingSolid(UStaticMesh *StaticMesh)
+  {
+    LaneMarkingSolid = StaticMesh;
+  }
+
+  UFUNCTION(BlueprintCallable, Category="Set Static Mesh")
+  void SetStaticMesh_LaneMarkingBroken(UStaticMesh *StaticMesh)
+  {
+    LaneMarkingBroken = StaticMesh;
+  }
+
+private:
+
+  void UpdateMeshes();
+
+  void UpdateRoad();
+
+  UPROPERTY(Category = "Road Description", EditAnywhere)
+  TArray<FRoadSegmentPiece> RoadDescription;
+
+  UPROPERTY(Category = "Road Description", AdvancedDisplay, EditAnywhere)
+  float Scale = 1.0f;
+
+  UPROPERTY(Category = "Meshes", EditAnywhere)
+  UStaticMesh *LaneLeft;
+
+  UPROPERTY(Category = "Meshes", EditAnywhere)
+  UStaticMesh *LaneRight;
+
+  UPROPERTY(Category = "Meshes", EditAnywhere)
+  UStaticMesh *SidewalkLeft;
+
+  UPROPERTY(Category = "Meshes", EditAnywhere)
+  UStaticMesh *SidewalkRight;
+
+  UPROPERTY(Category = "Meshes", EditAnywhere)
+  UStaticMesh *LaneMarkingSolid;
+
+  UPROPERTY(Category = "Meshes", EditAnywhere)
+  UStaticMesh *LaneMarkingBroken;
+};