p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

First version with walkers animation on replaying

This commit is contained in:
bernatx 2019-04-16 18:35:52 +02:00 committed by nsubiron
parent 37c7036486
commit 9354e38658
4 changed files with 85 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.cpp
View File

@ -246,6 +246,7 @@ void CarlaReplayer::CheckPlayAfterMapLoaded(void)
void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
{
double Per = 0.0f;
double DeltaTime = 0.0f;
double NewTime = CurrentTime + Time;
bool bFrameFound = false;
bool bExitAtNextFrame = false;
@ -255,6 +256,7 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
if (NewTime >= Frame.Elapsed && NewTime < Frame.Elapsed + Frame.DurationThis)
{
Per = (NewTime - Frame.Elapsed) / Frame.DurationThis;
DeltaTime = Frame.DurationThis * Per;
bFrameFound = true;
bExitLoop = true;
// UE_LOG(LogCarla, Log, TEXT("Frame %f (%f) now %f per %f"), Frame.Elapsed, Frame.Elapsed + Frame.DurationThis, NewTime, Per);
@ -277,6 +279,7 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
if (NewTime < Frame.Elapsed + Frame.DurationThis)
{
Per = (NewTime - Frame.Elapsed) / Frame.DurationThis;
DeltaTime = Frame.DurationThis * Per;
bFrameFound = true;
// UE_LOG(LogCarla, Log, TEXT("Frame %f (%f) now %f per %f"), Frame.Elapsed, Frame.Elapsed + Frame.DurationThis, NewTime, Per);
}
@ -336,7 +339,7 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
// update all positions
if (Enabled && bFrameFound)
{
UpdatePositions(Per);
UpdatePositions(Per, DeltaTime);
}
// save current time
@ -518,7 +521,7 @@ void CarlaReplayer::ProcessPositions(bool IsFirstTime)
}
}
void CarlaReplayer::UpdatePositions(double Per)
void CarlaReplayer::UpdatePositions(double Per, double DeltaTime)
{
unsigned int i;
uint32_t NewFollowId = 0;
@ -551,15 +554,15 @@ void CarlaReplayer::UpdatePositions(double Per)
// check if time factor is high
if (TimeFactor >= 2.0)
// assign first position
InterpolatePosition(PrevPos[Result->second], CurrPos[i], 0.0);
InterpolatePosition(PrevPos[Result->second], CurrPos[i], 0.0, DeltaTime);
else
// interpolate
InterpolatePosition(PrevPos[Result->second], CurrPos[i], Per);
InterpolatePosition(PrevPos[Result->second], CurrPos[i], Per, DeltaTime);
}
else
{
// assign last position (we don't have previous one)
InterpolatePosition(CurrPos[i], CurrPos[i], 0.0);
InterpolatePosition(CurrPos[i], CurrPos[i], 0.0, DeltaTime);
}
// move the camera to follow this actor if required
@ -576,10 +579,11 @@ void CarlaReplayer::UpdatePositions(double Per)
void CarlaReplayer::InterpolatePosition(
const CarlaRecorderPosition &Pos1,
const CarlaRecorderPosition &Pos2,
double Per)
double Per,
double DeltaTime)
{
// call the callback
Helper.ProcessReplayerPosition(Pos1, Pos2, Per);
Helper.ProcessReplayerPosition(Pos1, Pos2, Per, DeltaTime);
}
// tick for the replayer

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.h
View File

@ -130,8 +130,8 @@ private:
void ProcessStates(void);
// positions
void UpdatePositions(double Per);
void UpdatePositions(double Per, double DeltaTime);
void InterpolatePosition(const CarlaRecorderPosition &Start, const CarlaRecorderPosition &End, double Per);
void InterpolatePosition(const CarlaRecorderPosition &Start, const CarlaRecorderPosition &End, double Per, double DeltaTime);
};

83
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.cpp
View File

@ -7,6 +7,8 @@
#include "CarlaReplayerHelper.h"
#include "Carla/Actor/ActorView.h"
#include "Carla/Actor/ActorDescription.h"
#include "Carla/Walker/WalkerController.h"
#include "Carla/Walker/WalkerControl.h"
// create or reuse an actor for replaying
std::pair<int, FActorView>CarlaReplayerHelper::TryToCreateReplayerActor(
@ -179,7 +181,7 @@ std::pair<int, uint32_t> CarlaReplayerHelper::ProcessReplayerEventAdd(
if (result.first != 0)
{
// disable physics
// SetActorSimulatePhysics(result.second, false);
SetActorSimulatePhysics(result.second, false);
// disable autopilot
SetActorAutopilot(result.second, false);
}
@ -222,29 +224,40 @@ bool CarlaReplayerHelper::ProcessReplayerEventParent(uint32_t ChildId, uint32_t
}
// reposition actors
bool CarlaReplayerHelper::ProcessReplayerPosition(CarlaRecorderPosition Pos1, CarlaRecorderPosition Pos2, double Per)
bool CarlaReplayerHelper::ProcessReplayerPosition(CarlaRecorderPosition Pos1, CarlaRecorderPosition Pos2, double Per, double DeltaTime)
{
check(Episode != nullptr);
AActor *Actor = Episode->GetActorRegistry().Find(Pos1.DatabaseId).GetActor();
FVector Location;
FRotator Rotation;
if (Actor && !Actor->IsPendingKill())
{
// check to assign first position or interpolate between both
if (Per == 0.0)
{
// assign position 1
FTransform Trans(FRotator::MakeFromEuler(Pos1.Rotation), FVector(Pos1.Location), FVector(1, 1, 1));
Actor->SetActorTransform(Trans, false, nullptr, ETeleportType::TeleportPhysics);
Location = FVector(Pos1.Location);
Rotation = FRotator::MakeFromEuler(Pos1.Rotation);
// reset velocities
// ResetVelocities(Actor);
}
else
{
// interpolate positions
FVector Location = FMath::Lerp(FVector(Pos1.Location), FVector(Pos2.Location), Per);
FRotator Rotation = FMath::Lerp(FRotator::MakeFromEuler(Pos1.Rotation), FRotator::MakeFromEuler(Pos2.Rotation), Per);
FTransform Trans(Rotation, Location, FVector(1, 1, 1));
Actor->SetActorTransform(Trans, false, nullptr, ETeleportType::TeleportPhysics);
Location = FMath::Lerp(FVector(Pos1.Location), FVector(Pos2.Location), Per);
Rotation = FMath::Lerp(FRotator::MakeFromEuler(Pos1.Rotation), FRotator::MakeFromEuler(Pos2.Rotation), Per);
// apply new velocities
// FVector Vel((Location - FVector(Pos1.Location)) / DeltaTime);
// FVector Rot((Rotation - FRotator::MakeFromEuler(Pos1.Rotation)).Euler() / DeltaTime);
// SetVelocities(Actor, Vel, Rot);
// UE_LOG(LogCarla, Log, TEXT("Set velocities for %d at [%f,%f,%f] [%f,%f,%f]"), Pos1.DatabaseId, Vel.X, Vel.Y, Vel.Z, Rot.X, Rot.Y, Rot.Z);
}
// reset velocities
ResetVelocities(Actor);
// set new transform
FTransform Trans(Rotation, Location, FVector(1, 1, 1));
Actor->SetActorTransform(Trans, false, nullptr, ETeleportType::None);
// play walker animation
FVector Vel((Location - FVector(Pos1.Location)) / DeltaTime);
SetWalkerSpeedForAnimation(Actor, Vel);
return true;
}
return false;
@ -253,7 +266,7 @@ bool CarlaReplayerHelper::ProcessReplayerPosition(CarlaRecorderPosition Pos1, Ca
// reset velocity vectors on actor
void CarlaReplayerHelper::ResetVelocities(AActor *Actor)
{
if (Actor && !Actor->IsPendingKill())
if (Actor && !Actor->IsPendingKill())
{
auto RootComponent = Cast<UPrimitiveComponent>(Actor->GetRootComponent());
if (RootComponent != nullptr)
@ -266,6 +279,42 @@ void CarlaReplayerHelper::ResetVelocities(AActor *Actor)
}
}
// apply new velocities
void CarlaReplayerHelper::SetVelocities(AActor *Actor, FVector Linear, FVector Angular)
{
if (Actor && !Actor->IsPendingKill())
{
auto RootComponent = Cast<UPrimitiveComponent>(Actor->GetRootComponent());
if (RootComponent != nullptr)
{
// velocities
RootComponent->SetPhysicsLinearVelocity(Linear, false, "None");
RootComponent->SetPhysicsAngularVelocityInDegrees(Angular, false, "None");
}
}
}
// set speed of walker to force animation to play
void CarlaReplayerHelper::SetWalkerSpeedForAnimation(AActor *Actor, FVector Linear)
{
if (Actor && !Actor->IsPendingKill())
{
// check to set speed in walkers
auto Walker = Cast<APawn>(Actor);
if (Walker)
{
auto Controller = Cast<AWalkerController>(Walker->GetController());
if (Controller != nullptr)
{
FWalkerControl Control;
Control.Speed = Linear.Size();
Controller->ApplyWalkerControl(Control);
// UE_LOG(LogCarla, Log, TEXT("Set Speed for %f"), Control.Speed);
}
}
}
}
// reposition the camera
bool CarlaReplayerHelper::SetCameraPosition(uint32_t Id, FVector Offset, FQuat Rotation)
{
@ -311,15 +360,15 @@ bool CarlaReplayerHelper::ProcessReplayerStateTrafficLight(CarlaRecorderStateTra
// replay finish
bool CarlaReplayerHelper::ProcessReplayerFinish(bool bApplyAutopilot)
{
if (!bApplyAutopilot)
{
return false;
}
// set autopilot to all AI vehicles
// set autopilot and physics to all AI vehicles
auto registry = Episode->GetActorRegistry();
for (auto ActorView : registry)
{
SetActorAutopilot(ActorView, true);
// enable physics
SetActorSimulatePhysics(ActorView, true);
// autopilot
if (bApplyAutopilot)
SetActorAutopilot(ActorView, true);
}
return true;
}

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.h
View File

@ -35,7 +35,7 @@ public:
bool ProcessReplayerEventParent(uint32_t ChildId, uint32_t ParentId);
// reposition actors
bool ProcessReplayerPosition(CarlaRecorderPosition Pos1, CarlaRecorderPosition Pos2, double Per);
bool ProcessReplayerPosition(CarlaRecorderPosition Pos1, CarlaRecorderPosition Pos2, double Per, double DeltaTime);
// replay event for traffic light state
bool ProcessReplayerStateTrafficLight(CarlaRecorderStateTrafficLight State);
@ -64,5 +64,9 @@ private:
bool SetActorAutopilot(FActorView &ActorView, bool bEnabled);
// reset velocity vectors on actor
void ResetVelocities(AActor *Actor);
// apply new velocities
void SetVelocities(AActor *Actor, FVector Linear, FVector Angular);
// set speed of walker to force animation to play
void SetWalkerSpeedForAnimation(AActor *Actor, FVector Linear);
};
};