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Added methods to get the mesh components

This commit is contained in:
doterop 2020-11-06 14:32:39 +01:00 committed by bernat
parent c9fb00d8f2
commit 6392c0bf00
2 changed files with 183 additions and 83 deletions
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238
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.cpp
View File

@ -35,40 +35,6 @@ static FBoundingBox ApplyTransformToBB(
return BoundingBox;
}
static FBoundingBox CombineBBs(const TArray<FBoundingBox>& BBsToCombine)
{
FVector MaxVertex(TNumericLimits<float>::Lowest());
FVector MinVertex(TNumericLimits<float>::Max());
for(const FBoundingBox& BB : BBsToCombine) {
FVector MaxVertexOfBB = BB.Origin + BB.Extent;
FVector MinVertexOfBB = BB.Origin - BB.Extent;
MaxVertex.X = (MaxVertexOfBB.X > MaxVertex.X) ? MaxVertexOfBB.X : MaxVertex.X;
MaxVertex.Y = (MaxVertexOfBB.Y > MaxVertex.Y) ? MaxVertexOfBB.Y : MaxVertex.Y;
MaxVertex.Z = (MaxVertexOfBB.Z > MaxVertex.Z) ? MaxVertexOfBB.Z : MaxVertex.Z;
MinVertex.X = (MinVertexOfBB.X < MinVertex.X) ? MinVertexOfBB.X : MinVertex.X;
MinVertex.Y = (MinVertexOfBB.Y < MinVertex.Y) ? MinVertexOfBB.Y : MinVertex.Y;
MinVertex.Z = (MinVertexOfBB.Z < MinVertex.Z) ? MinVertexOfBB.Z : MinVertex.Z;
}
// Calculate box extent
FVector Extent (
(MaxVertex.X - MinVertex.X) * 0.5f,
(MaxVertex.Y - MinVertex.Y) * 0.5f,
(MaxVertex.Z - MinVertex.Z) * 0.5f
);
// Calculate middle point
FVector Origin (
(MinVertex.X + Extent.X),
(MinVertex.Y + Extent.Y),
(MinVertex.Z + Extent.Z)
);
return {Origin, Extent};
}
FBoundingBox UBoundingBoxCalculator::GetActorBoundingBox(const AActor *Actor, uint8 InTagQueried)
{
if (Actor != nullptr)
@ -248,67 +214,38 @@ FBoundingBox UBoundingBoxCalculator::GetCharacterBoundingBox(
void UBoundingBoxCalculator::GetTrafficLightBoundingBox(
const ATrafficLightBase* TrafficLight,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
uint8 InTagQueried)
{
check(TrafficLight);
TArray<FBoundingBox> BBsOfTL;
TArray<UStaticMeshComponent*> StaticMeshComps;
TrafficLight->GetComponents<UStaticMeshComponent>(StaticMeshComps);
GetBBsOfStaticMeshComponents(StaticMeshComps, BBsOfTL, InTagQueried);
TArray<uint8> TagsOfTL;
// This kind of a magic number relying that the lights of a TL are not bigger than 100.
// and we are gonna compare against a squared distance
const float DistanceThreshold = 100.0f * 100.0f;
// The BBs of the TL are calculated per light, so we need to merge the full-box
TSet<int> IndicesDiscarded;
uint8 TLTag = static_cast<uint8>(crp::CityObjectLabel::TrafficLight);
CombineBBsOfActor(TrafficLight, BBsOfTL, TagsOfTL, DistanceThreshold, TLTag);
check(BBsOfTL.Num() == TagsOfTL.Num());
bool FilterByTagEnabled = (InTagQueried != static_cast<uint8>(crp::CityObjectLabel::None));
for(int i = 0; i < BBsOfTL.Num(); i++)
{
// Check if the index was used to merge a previous BB
if(IndicesDiscarded.Contains(i)) continue;
TArray<FBoundingBox> BBsToCombine;
FBoundingBox& BB1 = BBsOfTL[i];
for(int j = i + 1; j < BBsOfTL.Num(); j++)
{
// Check if the index was used to merge a previous BB
if(IndicesDiscarded.Contains(j)) continue;
FBoundingBox& BB2 = BBsOfTL[j];
float Distance = FVector::DistSquared(BB1.Origin, BB2.Origin);
// If the lights are close enough, we merge it
if(Distance <= DistanceThreshold)
{
BBsToCombine.Emplace(BB2);
IndicesDiscarded.Emplace(j);
}
}
if(BBsToCombine.Num() > 0)
{
BBsToCombine.Emplace(BB1);
IndicesDiscarded.Emplace(i);
FBoundingBox MergedBB = CombineBBs(BBsToCombine);
MergedBB.Rotation = BB1.Rotation;
OutBB.Emplace(MergedBB);
}
}
// Add the BB of the meshes that didn't need to combine (ie: poles)
for(int i = 0; i < BBsOfTL.Num(); i++)
{
// Check if the index was used to merge a previous BB
if(IndicesDiscarded.Contains(i)) continue;
FBoundingBox& BB = BBsOfTL[i];
uint8 Tag = TagsOfTL[i];
if(FilterByTagEnabled && Tag != InTagQueried) continue;
OutBB.Emplace(BB);
OutTag.Emplace(Tag);
}
}
// TODO: update to calculate current animation pose
FBoundingBox UBoundingBoxCalculator::GetSkeletalMeshBoundingBox(const USkeletalMesh* SkeletalMesh)
{
@ -405,6 +342,7 @@ void UBoundingBoxCalculator::GetISMBoundingBox(
void UBoundingBoxCalculator::GetBBsOfStaticMeshComponents(
const TArray<UStaticMeshComponent*>& StaticMeshComps,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
uint8 InTagQueried)
{
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
@ -432,7 +370,8 @@ void UBoundingBoxCalculator::GetBBsOfStaticMeshComponents(
// Component-to-world transform for this component
const FTransform& CompToWorldTransform = Comp->GetComponentTransform();
BoundingBox = ApplyTransformToBB(BoundingBox, CompToWorldTransform);
OutBB.Add(BoundingBox);
OutBB.Emplace(BoundingBox);
OutTag.Emplace(static_cast<uint8>(Tag));
}
}
}
@ -440,6 +379,7 @@ void UBoundingBoxCalculator::GetBBsOfStaticMeshComponents(
void UBoundingBoxCalculator::GetBBsOfSkeletalMeshComponents(
const TArray<USkeletalMeshComponent*>& SkeletalMeshComps,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
uint8 InTagQueried)
{
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
@ -463,7 +403,8 @@ void UBoundingBoxCalculator::GetBBsOfSkeletalMeshComponents(
// Component-to-world transform for this component
const FTransform& CompToWorldTransform = Comp->GetComponentTransform();
BoundingBox = ApplyTransformToBB(BoundingBox, CompToWorldTransform);
OutBB.Add(BoundingBox);
OutBB.Emplace(BoundingBox);
OutTag.Emplace(static_cast<uint8>(Tag));
}
}
}
@ -487,6 +428,7 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBBsOfActor(
uint8 InTagQueried)
{
TArray<FBoundingBox> Result;
TArray<uint8> Tags;
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
@ -526,7 +468,7 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBBsOfActor(
const ATrafficLightBase* TrafficLight = Cast<ATrafficLightBase>(Actor);
if(TrafficLight)
{
GetTrafficLightBoundingBox(TrafficLight, Result, InTagQueried);
GetTrafficLightBoundingBox(TrafficLight, Result, Tags, InTagQueried);
return Result;
}
@ -544,13 +486,145 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBBsOfActor(
// Calculate FBoundingBox of SM
TArray<UStaticMeshComponent*> StaticMeshComps;
Tags.Reset();
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
GetBBsOfStaticMeshComponents(StaticMeshComps, Result, InTagQueried);
GetBBsOfStaticMeshComponents(StaticMeshComps, Result, Tags, InTagQueried);
// Calculate FBoundingBox of SK_M
TArray<USkeletalMeshComponent*> SkeletalMeshComps;
Tags.Reset();
Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, InTagQueried);
GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, Tags, InTagQueried);
return Result;
}
void UBoundingBoxCalculator::CombineBBsOfActor(
const AActor* Actor,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
const float DistanceThreshold,
uint8 TagToCombine)
{
check(Actor);
TArray<FBoundingBox> BBsOfTL;
TArray<uint8> InternalOutTags;
TArray<UStaticMeshComponent*> StaticMeshComps;
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
GetBBsOfStaticMeshComponents(StaticMeshComps, BBsOfTL, InternalOutTags);
bool IgnoreDistanceFilter = (DistanceThreshold <= 0.0f);
bool IgnoreTag = (TagToCombine == 0);
TSet<int> IndicesDiscarded;
for(int i = 0; i < BBsOfTL.Num(); i++)
{
// Check if the index was used to merge a previous BB
if(IndicesDiscarded.Contains(i)) continue;
TArray<FBoundingBox> BBsToCombine;
FBoundingBox& BB1 = BBsOfTL[i];
uint8 Tag1 = InternalOutTags[i];
for(int j = i + 1; j < BBsOfTL.Num(); j++)
{
// Check if the index was used to merge a previous BB
if(IndicesDiscarded.Contains(j)) continue;
FBoundingBox& BB2 = BBsOfTL[j];
uint8 Tag2 = InternalOutTags[j];
float Distance = FVector::DistSquared(BB1.Origin, BB2.Origin);
// If the BBs are close enough and are from the same type, we merge it
if( ((Distance <= DistanceThreshold) || IgnoreDistanceFilter) &&
((Tag1 == Tag2) || IgnoreTag) )
{
BBsToCombine.Emplace(BB2);
IndicesDiscarded.Emplace(j);
}
}
if(BBsToCombine.Num() > 0)
{
BBsToCombine.Emplace(BB1);
IndicesDiscarded.Emplace(i);
FBoundingBox MergedBB = CombineBBs(BBsToCombine);
MergedBB.Rotation = BB1.Rotation;
OutBB.Emplace(MergedBB);
OutTag.Emplace(InternalOutTags[i]);
}
}
// Add the BB of the meshes that didn't need to combine
for(int i = 0; i < BBsOfTL.Num(); i++)
{
// Check if the index was used to merge a previous BB
if(IndicesDiscarded.Contains(i)) continue;
FBoundingBox& BB = BBsOfTL[i];
OutBB.Emplace(BB);
OutTag.Emplace(InternalOutTags[i]);
}
}
FBoundingBox UBoundingBoxCalculator::CombineBBs(const TArray<FBoundingBox>& BBsToCombine)
{
FVector MaxVertex(TNumericLimits<float>::Lowest());
FVector MinVertex(TNumericLimits<float>::Max());
for(const FBoundingBox& BB : BBsToCombine) {
FVector MaxVertexOfBB = BB.Origin + BB.Extent;
FVector MinVertexOfBB = BB.Origin - BB.Extent;
MaxVertex.X = (MaxVertexOfBB.X > MaxVertex.X) ? MaxVertexOfBB.X : MaxVertex.X;
MaxVertex.Y = (MaxVertexOfBB.Y > MaxVertex.Y) ? MaxVertexOfBB.Y : MaxVertex.Y;
MaxVertex.Z = (MaxVertexOfBB.Z > MaxVertex.Z) ? MaxVertexOfBB.Z : MaxVertex.Z;
MinVertex.X = (MinVertexOfBB.X < MinVertex.X) ? MinVertexOfBB.X : MinVertex.X;
MinVertex.Y = (MinVertexOfBB.Y < MinVertex.Y) ? MinVertexOfBB.Y : MinVertex.Y;
MinVertex.Z = (MinVertexOfBB.Z < MinVertex.Z) ? MinVertexOfBB.Z : MinVertex.Z;
}
// Calculate box extent
FVector Extent (
(MaxVertex.X - MinVertex.X) * 0.5f,
(MaxVertex.Y - MinVertex.Y) * 0.5f,
(MaxVertex.Z - MinVertex.Z) * 0.5f
);
// Calculate middle point
FVector Origin (
(MinVertex.X + Extent.X),
(MinVertex.Y + Extent.Y),
(MinVertex.Z + Extent.Z)
);
return {Origin, Extent};
}
void UBoundingBoxCalculator::GetMeshCompsFromActorBoundingBox(
const AActor* Actor,
const FBoundingBox& InBB,
TArray<UStaticMeshComponent*>& OutStaticMeshComps)
{
check(Actor);
TArray<FBoundingBox> BBsOfTL;
TArray<uint8> InternalOutTags;
TArray<UStaticMeshComponent*> StaticMeshComps;
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
GetBBsOfStaticMeshComponents(StaticMeshComps, BBsOfTL, InternalOutTags);
check((StaticMeshComps.Num() == BBsOfTL.Num()) && (StaticMeshComps.Num() == InternalOutTags.Num()));
const float DistanceThreshold = 100.0f * 100.0f;
for(int i = 0; i < BBsOfTL.Num(); i++)
{
const FBoundingBox& BB = BBsOfTL[i];
float Distance = FVector::DistSquared(InBB.Origin, BB.Origin);
if(Distance <= DistanceThreshold)
{
OutStaticMeshComps.Emplace(StaticMeshComps[i]);
}
}
}

28
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.h
View File

@ -46,6 +46,7 @@ public:
static void GetTrafficLightBoundingBox(
const ATrafficLightBase* TrafficLight,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
uint8 InTagQueried = 0);
UFUNCTION(Category = "Carla Util", BlueprintCallable)
@ -56,19 +57,21 @@ public:
UFUNCTION(Category = "Carla Util", BlueprintCallable)
static void GetISMBoundingBox(
UInstancedStaticMeshComponent* HISMComp,
UInstancedStaticMeshComponent* ISMComp,
TArray<FBoundingBox>& OutBoundingBox);
UFUNCTION(Category = "Carla Util", BlueprintCallable)
static void GetBBsOfStaticMeshComponents(
const TArray<UStaticMeshComponent*>& StaticMeshComps,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
uint8 InTagQueried = 0);
UFUNCTION(Category = "Carla Util", BlueprintCallable)
static void GetBBsOfSkeletalMeshComponents(
const TArray<USkeletalMeshComponent*>& SkeletalMeshComps,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
uint8 InTagQueried = 0);
UFUNCTION(Category = "Carla Util", BlueprintCallable)
@ -81,4 +84,27 @@ public:
const AActor* Actor,
uint8 InTagQueried = 0);
// Combines the BBs of an actor based on the distance and type of the BB
// The BBs not combined are included too (ie: TL BBs and pole)
// DistanceThreshold is the maximum distance between BBs to combine, if 0.0 the distance is ignored
// TagToCombine defines the type of the BBs to combine, if 0 the type is ignored
UFUNCTION(Category = "Carla Util", BlueprintCallable)
static void CombineBBsOfActor(
const AActor* Actor,
TArray<FBoundingBox>& OutBB,
TArray<uint8>& OutTag,
const float DistanceThreshold = 0.0f,
uint8 TagToCombine = 0);
UFUNCTION(Category = "Carla Util", BlueprintCallable)
static FBoundingBox CombineBBs(const TArray<FBoundingBox>& BBsToCombine);
// Returns Static Mesh Components that generate the InBB of the Actor
// ie: the SMComps that creates the BB of the TL light box
UFUNCTION(Category = "Carla Actor", BlueprintCallable)
static void GetMeshCompsFromActorBoundingBox(
const AActor* Actor,
const FBoundingBox& InBB,
TArray<UStaticMeshComponent*>& OutStaticMeshComps);
};