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Added optional recast execution.

This commit is contained in:
Axel1092 2020-05-13 09:40:42 +02:00 committed by Marc Garcia Puig
parent 381d6b2d97
commit 734912df54
3 changed files with 10 additions and 5 deletions
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10
LibCarla/source/carla/rpc/OpendriveGenerationParameters.h
View File

@ -20,13 +20,15 @@ namespace rpc {
double w_height,
double a_width,
bool smooth_junc,
bool e_visibility)
bool e_visibility,
bool e_pedestrian)
: vertex_distance(v_distance),
max_road_length(max_road_len),
wall_height(w_height),
additional_width(a_width),
smooth_junctions(smooth_junc),
enable_mesh_visibility(e_visibility)
enable_mesh_visibility(e_visibility),
enable_pedestrian_navigation(e_pedestrian)
{}
double vertex_distance = 2.0;
@ -35,6 +37,7 @@ namespace rpc {
double additional_width = 0.6;
bool smooth_junctions = true;
bool enable_mesh_visibility = true;
bool enable_pedestrian_navigation = true;
MSGPACK_DEFINE_ARRAY(
vertex_distance,
@ -42,7 +45,8 @@ namespace rpc {
wall_height,
additional_width,
smooth_junctions,
enable_mesh_visibility);
enable_mesh_visibility,
enable_pedestrian_navigation);
};
}

3
PythonAPI/carla/source/libcarla/Client.cpp
View File

@ -161,13 +161,14 @@ void export_client() {
namespace rpc = carla::rpc;
class_<rpc::OpendriveGenerationParameters>("OpendriveGenerationParameters",
init<double, double, double, double, bool, bool>((arg("vertex_distance")=2.0, arg("max_road_length")=50.0, arg("wall_height")=1.0, arg("additional_width")=0.6, arg("smooth_junctions")=true, arg("enable_mesh_visibility")=true)))
init<double, double, double, double, bool, bool, bool>((arg("vertex_distance")=2.0, arg("max_road_length")=50.0, arg("wall_height")=1.0, arg("additional_width")=0.6, arg("smooth_junctions")=true, arg("enable_mesh_visibility")=true, arg("enable_pedestrian_navigation")=true)))
.def_readwrite("vertex_distance", &rpc::OpendriveGenerationParameters::vertex_distance)
.def_readwrite("max_road_length", &rpc::OpendriveGenerationParameters::max_road_length)
.def_readwrite("wall_height", &rpc::OpendriveGenerationParameters::wall_height)
.def_readwrite("additional_width", &rpc::OpendriveGenerationParameters::additional_width)
.def_readwrite("smooth_junctions", &rpc::OpendriveGenerationParameters::smooth_junctions)
.def_readwrite("enable_mesh_visibility", &rpc::OpendriveGenerationParameters::enable_mesh_visibility)
.def_readwrite("enable_pedestrian_navigation", &rpc::OpendriveGenerationParameters::enable_pedestrian_navigation)
;
class_<cc::Client>("Client",

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
View File

@ -193,7 +193,7 @@ bool UCarlaEpisode::LoadNewOpendriveEpisode(
const FString AbsoluteRecastBuilderPath = BuildRecastBuilderFile();
if (FPaths::FileExists(AbsoluteRecastBuilderPath))
if (FPaths::FileExists(AbsoluteRecastBuilderPath) && Params.enable_pedestrian_navigation)
{
/// @todo this can take too long to finish, clients need a method
/// to know if the navigation is available or not.