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Aaron/terramechanics performance (#5900) 

* Added local frame option. Fixed inputs for NN

* Add Textures

* Changed texture to grayscale RGB and added check for 'air' particles

* Updated 2k and 4k textures enable parameter for select res texture for deformation

* Fix issue where trying to access TMap when loading

* Use contains functions instead of checking num of elemnts on tmap to make a secure access

* Used ParticlesHeightmap optimization and clear some log

* Fixed number of particles inputs. Removed debug output. Fixed mutex creating cpu stalls

* Decoupling visualization with gamethread

* Make work optimisations

* Disable deformation visualization

* Updated collisions parameters, collisions itself are not updated

* Disable Collisions vehicle with landscape

* Add in pytorch output wheel normal and put them into UE4 and apply to wheels

* Added factors based on distance, never negative, check if there are particles

* Fix compilation error

* Removed unused code and normals related code

* Fixed compiling error

Co-authored-by: Axel <axellopez92@outlook.com>
This commit is contained in:
Blyron 2022-11-02 16:13:22 +01:00 committed by GitHub
parent b1249b92f3
commit 906b4658d5
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 24 additions and 78 deletions
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27
LibCarla/source/carla/pytorch/pytorch.cpp
View File

@ -66,8 +66,7 @@ namespace learning {
WheelOutput GetWheelTensorOutput(
const at::Tensor &particle_forces,
const at::Tensor &wheel_forces,
const at::Tensor &wheel_normal) {
const at::Tensor &wheel_forces ) {
WheelOutput result;
const float* wheel_forces_data = wheel_forces.data_ptr<float>();
result.wheel_forces_x = wheel_forces_data[0];
@ -76,10 +75,6 @@ namespace learning {
result.wheel_torque_x = wheel_forces_data[3];
result.wheel_torque_y = wheel_forces_data[4];
result.wheel_torque_z = wheel_forces_data[5];
const float* wheel_normal_data = wheel_normal.data_ptr<float>();
result.wheel_normal_x = wheel_normal_data[0];
result.wheel_normal_y = wheel_normal_data[1];
result.wheel_normal_z = wheel_normal_data[2];
const float* particle_forces_data = particle_forces.data_ptr<float>();
int num_dimensions = 3;
int num_particles = particle_forces.sizes()[0];
@ -207,13 +202,13 @@ namespace learning {
std::vector<torch::jit::IValue> Tensors = Output.toTuple()->elements();
_output.wheel0 = GetWheelTensorOutput(
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu(), Tensors[8].toTensor().cpu());
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu() );
_output.wheel1 = GetWheelTensorOutput(
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu(), Tensors[9].toTensor().cpu());
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu() );
_output.wheel2 = GetWheelTensorOutput(
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu(), Tensors[10].toTensor().cpu());
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu() );
_output.wheel3 = GetWheelTensorOutput(
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu(), Tensors[11].toTensor().cpu());
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu() );
}
void NeuralModel::ForwardDynamic() {
@ -279,17 +274,13 @@ namespace learning {
std::vector<torch::jit::IValue> Tensors = Output.toTuple()->elements();
_output.wheel0 = GetWheelTensorOutput(
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu(),
Tensors[8].toTensor().cpu());
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu() );
_output.wheel1 = GetWheelTensorOutput(
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu(),
Tensors[9].toTensor().cpu());
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu() );
_output.wheel2 = GetWheelTensorOutput(
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu(),
Tensors[10].toTensor().cpu());
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu() );
_output.wheel3 = GetWheelTensorOutput(
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu(),
Tensors[11].toTensor().cpu());
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu() );
}
Outputs& NeuralModel::GetOutputs() {

3
LibCarla/source/carla/pytorch/pytorch.h
View File

@ -47,9 +47,6 @@ namespace learning {
float wheel_torque_x = 0;
float wheel_torque_y = 0;
float wheel_torque_z = 0;
float wheel_normal_x = 0;
float wheel_normal_y = 0;
float wheel_normal_z = 0;
std::vector<float> _particle_forces;
};
struct Outputs {

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.h
View File

@ -201,6 +201,8 @@ public:
protected:
void RemoveLandscapeCollisionIfHaveTerraMechanics(ULevel* InLevel);
void UpdateTilesState();
void RemovePendingActorsToRemove();

64
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp
View File

@ -1862,11 +1862,6 @@ void UCustomTerrainPhysicsComponent::RunNNPhysicsSimulation(
DrawTiles(GetWorld(), SparseMap.GetIntersectingTiles(BboxWheel3), BboxWheel3.Center.Z);
}
//UE_LOG(LogCarla, Log, TEXT("Found %d particles in wheel 0 %s"), ParticlesWheel0.size(), *WheelPosition0.ToString());
//UE_LOG(LogCarla, Log, TEXT("Found %d particles in wheel 1 %s"), ParticlesWheel1.size(), *WheelPosition1.ToString());
//UE_LOG(LogCarla, Log, TEXT("Found %d particles in wheel 2 %s"), ParticlesWheel2.size(), *WheelPosition2.ToString());
//UE_LOG(LogCarla, Log, TEXT("Found %d particles in wheel 3 %s"), ParticlesWheel3.size(), *WheelPosition3.ToString());
TArray<float> ParticlePos0, ParticleVel0, ParticlePos1, ParticleVel1,
ParticlePos2, ParticleVel2, ParticlePos3, ParticleVel3;
TArray<float> WheelPos0, WheelOrient0, WheelLinVel0, WheelAngVel0;
@ -2041,27 +2036,6 @@ void UCustomTerrainPhysicsComponent::RunNNPhysicsSimulation(
Output.wheel3.wheel_torque_y,
Output.wheel3.wheel_torque_z)));
}
{
TArray<FVector> WheelsNormals;
WheelsNormals.Add(FVector(
Output.wheel0.wheel_normal_x,
Output.wheel0.wheel_normal_y,
Output.wheel0.wheel_normal_z));
WheelsNormals.Add(FVector(
Output.wheel1.wheel_normal_x,
Output.wheel1.wheel_normal_y,
Output.wheel1.wheel_normal_z));
WheelsNormals.Add(FVector(
Output.wheel2.wheel_normal_x,
Output.wheel2.wheel_normal_y,
Output.wheel2.wheel_normal_z));
WheelsNormals.Add(FVector(
Output.wheel3.wheel_normal_x,
Output.wheel3.wheel_normal_y,
Output.wheel3.wheel_normal_z));
AddForcesToVehicleWheels(Vehicle, WheelsNormals);
}
#endif
}
@ -2135,8 +2109,6 @@ void UCustomTerrainPhysicsComponent::OnLevelAddedToWorld(ULevel* InLevel, UWorld
CurrentComponent->SetCollisionEnabled( ECollisionEnabled::Type::NoCollision );
}
}
}
}
@ -2312,38 +2284,22 @@ void UCustomTerrainPhysicsComponent::UpdateTilesHeightMapsInRadius(FDVector Posi
}
}
void UCustomTerrainPhysicsComponent::AddForcesToVehicleWheels(ACarlaWheeledVehicle *Vehicle, TArray<FVector> WheelsNormals )
void UCustomTerrainPhysicsComponent::AddForceToSingleWheel( USkeletalMeshComponent* SkeletalMeshComponent, FVector WheelPosition, FVector WheelNormalForce )
{
USkeletalMeshComponent* SKMesh = Cast<USkeletalMeshComponent>( Vehicle->GetRootComponent() );
UE_LOG(LogCarla, Warning, TEXT("Normal0 %f"), WheelsNormals[0].Z );
AddForceToSingleWheel( SKMesh, FName(TEXT("Wheel_Front_Left")) , WheelsNormals[0] );
AddForceToSingleWheel( SKMesh, FName(TEXT("Wheel_Front_Right")), WheelsNormals[1] );
AddForceToSingleWheel( SKMesh, FName(TEXT("Wheel_Rear_Left")), WheelsNormals[2] );
AddForceToSingleWheel( SKMesh, FName(TEXT("Wheel_Rear_Left")), WheelsNormals[3] );
}
void UCustomTerrainPhysicsComponent::AddForceToSingleWheel( USkeletalMeshComponent* SkeletalMeshComponent, FName WheelName, FVector WheelNormalForce )
{
FVector WheelLocation = SkeletalMeshComponent->GetBoneLocation(WheelName, EBoneSpaces::Type::WorldSpace);
WheelLocation = UEFrameToSI(WheelLocation);
FVector WheelBottomLocation = WheelLocation - FVector(0,0, 0.337);
float OriginalHeight = SparseMap.GetHeight(WheelLocation);
FVector WheelBottomLocation = WheelPosition - FVector(0,0, 0.337);
float OriginalHeight = SparseMap.GetHeight(WheelPosition);
float FloorHeight = OriginalHeight - UEFrameToSI(TerrainDepth);
if( WheelBottomLocation.Z < FloorHeight )
{
SkeletalMeshComponent->AddForceToAllBodiesBelow( WheelNormalForce * NormalForceIntensity, WheelName, false, true );
if( WheelNormalForce.Size() == 0 ){
WheelNormalForce = FVector::UpVector;
}
else if( WheelBottomLocation.Z < OriginalHeight )
{
SkeletalMeshComponent->AddForceToAllBodiesBelow( WheelNormalForce * NormalForceIntensity, WheelName, false, true );
}
else
{
float ForceFactor = ( WheelBottomLocation.Z - OriginalHeight ) / ( FloorHeight - OriginalHeight );
if( ForceFactor < 0){
ForceFactor = 0;
}
SkeletalMeshComponent->AddForceAtLocationLocal(WheelPosition, SIToUEFrame(WheelNormalForce) * ( ForceFactor * NormalForceIntensity) );
}
void UCustomTerrainPhysicsComponent::ApplyForcesToVehicle(

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.h
View File

@ -379,8 +379,8 @@ private:
void FlagTilesToRedoOrderedContainer(const std::vector<FParticle*>& Particles);
void UpdateTilesHeightMapsInRadius(FDVector Position, uint32 Rad );
void AddForcesToVehicleWheels(ACarlaWheeledVehicle *Vehicle, TArray<FVector> WheelsNormals);
void AddForceToSingleWheel(USkeletalMeshComponent* SkeletalMeshComponent, FName WheelName, FVector WheelNormalForce);
void AddForceToSingleWheel(USkeletalMeshComponent* SkeletalMeshComponent,
FVector WheelPosition, FVector WheelNormalForce);
UPROPERTY(EditAnywhere)
TArray<FForceAtLocation> ForcesToApply;