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Fixing removing of dead pedestrians

This commit is contained in:
bernatx 2019-07-08 16:55:18 +02:00 committed by Néstor Subirón
parent d539f27ac3
commit 933d2b72ad
2 changed files with 19 additions and 20 deletions
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25
LibCarla/source/carla/client/detail/WalkerNavigation.cpp
View File

@ -15,7 +15,7 @@ namespace carla {
namespace client {
namespace detail {
WalkerNavigation::WalkerNavigation(Client &client) : _client(client) {
WalkerNavigation::WalkerNavigation(Client &client) : _client(client), _next_check_index(0) {
// Here call the server to retrieve the navmesh data.
_nav.Load(_client.GetNavigationMesh());
}
@ -47,27 +47,24 @@ namespace detail {
_client.ApplyBatch(std::move(commands), false);
}
void WalkerNavigation::CheckIfWalkerExist(std::vector<WalkerHandle> walkers, const EpisodeState &state, int totalToCheck) {
static unsigned long currentIndex = 0;
for (int i=0; i<totalToCheck; ++i) {
void WalkerNavigation::CheckIfWalkerExist(std::vector<WalkerHandle> walkers, const EpisodeState &state) {
// check with total
if (currentIndex >= walkers.size())
currentIndex = 0;
if (_next_check_index >= walkers.size())
_next_check_index = 0;
// check the existence
if (!state.ContainsActorSnapshot(walkers[currentIndex].walker)) {
if (!state.ContainsActorSnapshot(walkers[_next_check_index].walker)) {
// remove from the crowd
RemoveWalker(walkers[currentIndex].walker);
RemoveWalker(walkers[_next_check_index].walker);
// destroy the controller
_client.DestroyActor(walkers[currentIndex].controller);
_client.DestroyActor(walkers[_next_check_index].controller);
// unregister from list
UnregisterWalker(walkers[currentIndex].walker, walkers[currentIndex].controller);
}
else
++currentIndex;
UnregisterWalker(walkers[_next_check_index].walker, walkers[_next_check_index].controller);
}
++_next_check_index;
}
} // namespace detail

4
LibCarla/source/carla/client/detail/WalkerNavigation.h
View File

@ -83,6 +83,8 @@ namespace detail {
Client &_client;
unsigned long _next_check_index;
carla::nav::Navigation _nav;
struct WalkerHandle {
@ -93,7 +95,7 @@ namespace detail {
AtomicList<WalkerHandle> _walkers;
// check a few walkers and if they don't exist then remove from the crowd
void CheckIfWalkerExist(std::vector<WalkerHandle> walkers, const EpisodeState &state, int totalToCheck = 1);
void CheckIfWalkerExist(std::vector<WalkerHandle> walkers, const EpisodeState &state);
};
} // namespace detail