More fixing for windows
This commit is contained in:
bernatx
Néstor Subirón
parent
ced914a653
commit
8e4f7a7248
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@ -31,13 +31,6 @@ if (WIN32)
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# Install zlib lib.
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file(GLOB libpng_libraries "${LIBPNG_LIB_PATH}/*")
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install(FILES ${libpng_libraries} DESTINATION lib)
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# Install recast headers.
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file(GLOB recast_includes "${RECAST_INCLUDE_PATH}/*")
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install(FILES ${recast_includes} DESTINATION include)
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# Install recast lib.
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file(GLOB recast_libraries "${RECAST_LIB_PATH}/*")
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install(FILES ${recast_libraries} DESTINATION lib)
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endif (WIN32)
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# Add sources.
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@ -4,7 +4,7 @@
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#define _USE_MATH_DEFINES // to avoid undefined error (bug in Visual Studio 2015 and 2017)
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#define _USE_MATH_DEFINES // to avoid undefined error of M_PI (bug in Visual Studio 2015 and 2017)
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#include <cmath>
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#include "carla/Logging.h"
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@ -30,6 +30,10 @@ namespace nav {
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}
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Navigation::~Navigation() {
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_mappedId.clear();
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_baseHeight.clear();
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_yaw_walkers.clear();
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_binaryMesh.clear();
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dtFreeCrowd(_crowd);
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dtFreeNavMeshQuery(_navQuery);
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dtFreeNavMesh(_navMesh);
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@ -300,7 +304,7 @@ namespace nav {
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// save the base offset of this walker
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_baseHeight[id] = base_offset;
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yaw_walkers[id] = 0.0f;
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_yaw_walkers[id] = 0.0f;
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return true;
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}
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@ -395,15 +399,16 @@ namespace nav {
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// set its position in Unreal coordinates
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trans.location.x = agent->npos[0];
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trans.location.y = agent->npos[2];
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trans.location.z = agent->npos[1] + baseOffset - 0.08f; // 0.08f is a hardcoded value to get rid of some empty space
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// trans.location.z = agent->npos[1] + baseOffset - 0.08f; // 0.08f is a hardcoded value to get rid of some empty space
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trans.location.z = agent->npos[1] + baseOffset;
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// set its rotation
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float yaw = atan2f(agent->dvel[2] , agent->dvel[0]) * (180.0f / static_cast<float>(M_PI));
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float shortest_angle = fmod(yaw - yaw_walkers[id] + 540.0f, 360.0f) - 180.0f;
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float shortest_angle = fmod(yaw - _yaw_walkers[id] + 540.0f, 360.0f) - 180.0f;
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float rotation_speed = 4.0f;
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trans.rotation.yaw = yaw_walkers[id] + (shortest_angle * rotation_speed * static_cast<float>(_delta_seconds));
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trans.rotation.yaw = _yaw_walkers[id] + (shortest_angle * rotation_speed * static_cast<float>(_delta_seconds));
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yaw_walkers[id] = trans.rotation.yaw;
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_yaw_walkers[id] = trans.rotation.yaw;
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return true;
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}
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@ -91,7 +91,7 @@ namespace nav {
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// base height of each walker
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std::unordered_map<ActorId, float> _baseHeight;
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// Store walkers yaw angle from previous tick
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std::unordered_map<ActorId, float> yaw_walkers;
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std::unordered_map<ActorId, float> _yaw_walkers;
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std::mutex _mutex;
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@ -1,153 +0,0 @@
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#! /bin/bash
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# ==============================================================================
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# -- Set up environment --------------------------------------------------------
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# ==============================================================================
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source $(dirname "$0")/Environment.sh
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if [ ! -d "${UE4_ROOT}" ]; then
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fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
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else
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log "Using Unreal Engine at '$UE4_ROOT'"
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fi
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# ==============================================================================
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# -- Parse arguments -----------------------------------------------------------
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# ==============================================================================
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DOC_STRING="Build and launch CarlaUE4."
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USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean]"
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REMOVE_INTERMEDIATE=false
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HARD_CLEAN=false
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BUILD_CARLAUE4=false
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LAUNCH_UE4_EDITOR=false
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GDB=
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OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb -n 'parse-options' -- "$@"`
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if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
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eval set -- "$OPTS"
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while true; do
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case "$1" in
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--gdb )
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GDB="gdb --args";
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shift ;;
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--build )
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BUILD_CARLAUE4=true;
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shift ;;
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--rebuild )
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REMOVE_INTERMEDIATE=true;
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BUILD_CARLAUE4=true;
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shift ;;
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--launch )
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LAUNCH_UE4_EDITOR=true;
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shift ;;
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--clean )
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REMOVE_INTERMEDIATE=true;
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shift ;;
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--hard-clean )
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REMOVE_INTERMEDIATE=true;
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HARD_CLEAN=true;
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shift ;;
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-h | --help )
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echo "$DOC_STRING"
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echo "$USAGE_STRING"
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exit 1
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;;
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* )
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break ;;
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esac
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done
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if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_CARLAUE4} || ${LAUNCH_UE4_EDITOR}; }; then
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fatal_error "Nothing selected to be done."
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fi
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pushd "${CARLAUE4_ROOT_FOLDER}" >/dev/null
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# ==============================================================================
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# -- Clean CarlaUE4 ------------------------------------------------------------
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# ==============================================================================
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if ${HARD_CLEAN} ; then
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if [ ! -f Makefile ]; then
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fatal_error "The project wasn't built before!"
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fi
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log "Doing a \"hard\" clean of the Unreal Engine project."
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make CarlaUE4Editor ARGS=-clean
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fi
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if ${REMOVE_INTERMEDIATE} ; then
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log "Cleaning intermediate files and folders."
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UE4_INTERMEDIATE_FOLDERS="Binaries Build Intermediate DerivedDataCache"
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rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
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rm -f Makefile
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pushd "${CARLAUE4_PLUGIN_ROOT_FOLDER}" >/dev/null
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rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
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popd >/dev/null
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fi
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# ==============================================================================
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# -- Build CarlaUE4 ------------------------------------------------------------
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# ==============================================================================
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if ${BUILD_CARLAUE4} ; then
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if [ ! -f Makefile ]; then
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# This command fails sometimes but normally we can continue anyway.
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set +e
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log "Generate Unreal project files."
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${UE4_ROOT}/GenerateProjectFiles.sh -project="${PWD}/CarlaUE4.uproject" -game -engine -makefiles
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set -e
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fi
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log "Build CarlaUE4 project."
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make CarlaUE4Editor
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#Providing the user with the ExportedMaps folder
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EXPORTED_MAPS="${CARLAUE4_ROOT_FOLDER}/Content/Carla/ExportedMaps"
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mkdir -p "${EXPORTED_MAPS}"
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fi
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# ==============================================================================
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# -- Launch UE4Editor ----------------------------------------------------------
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# ==============================================================================
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if ${LAUNCH_UE4_EDITOR} ; then
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log "Launching UE4Editor..."
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${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject"
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else
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log "Success!"
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fi
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# ==============================================================================
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# -- ...and we are done --------------------------------------------------------
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# ==============================================================================
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popd >/dev/null
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@ -153,6 +153,8 @@ if not defined install_recast (
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echo %FILE_N% Failed while installing "Recast & Detour".
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goto failed
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) else (
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set RECAST_INSTALL_DIR=%install_recast:\=/%
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)
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rem ============================================================================
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@ -131,7 +131,7 @@ rem ============================================================================
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:good_exit
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echo %FILE_N% Exiting...
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endlocal
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set install_recast=done
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endlocal & set install_recast=%RECAST_INSTALL_DIR%
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exit /b 0
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:bad_exit
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