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Fixed road mesh generation problem

This commit is contained in:
Marc Garcia Puig 2020-03-05 12:39:19 +01:00
parent 37837ed484
commit afda06f83f
1 changed files with 8 additions and 7 deletions
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15
LibCarla/source/carla/road/Map.cpp
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@ -970,7 +970,7 @@ namespace road {
}
/// Computes the location of the edges of the current lane at the current waypoint
static std::pair<geom::Vector3D, geom::Vector3D> GetWaypointCornerPosition(
static std::pair<geom::Vector3D, geom::Vector3D> GetWaypointCornerPositions(
const Map &map, const Waypoint &waypoint, const Lane &lane) {
float lane_width = static_cast<float>(map.GetLaneWidth(waypoint)) / 2.0f;
lane_width = waypoint.lane_id > 0 ? -lane_width : lane_width;
@ -998,22 +998,23 @@ namespace road {
geom::Mesh Map::GenerateGeometry(double distance) const {
RELEASE_ASSERT(distance > 0.0);
geom::Mesh out_mesh;
// Iterate each lane in each lane_section in each road
for (const auto &pair : _data.GetRoads()) {
const auto &road = pair.second;
for (const auto &lane_section : road.GetLaneSections()) {
for (const auto &lane_pair : lane_section.GetLanes()) {
// Get the lane reference
const auto &lane = lane_pair.second;
// The lane with lane_id 0 have no physical representation in OpenDRIVE
if (lane.GetId() == 0) {
continue;
}
const auto end_distance = lane.GetDistance() + lane.GetLength() - EPSILON;
const Waypoint initial_waypoint {
Waypoint current_wp {
road.GetId(),
lane_section.GetId(),
lane.GetId(),
lane_section.GetDistance() + EPSILON };
Waypoint current_wp = initial_waypoint;
bool first_waypoint = true;
if (lane.GetType() == Lane::LaneType::Sidewalk) {
@ -1024,7 +1025,7 @@ namespace road {
do {
// Get the location of the edges of the current lane at the current waypoint
const auto edges = GetWaypointCornerPosition(*this, current_wp, lane);
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);
// This condition avoids adding indexes in the initial first waypoint
if(first_waypoint) {
// Add vertices only
@ -1044,9 +1045,9 @@ namespace road {
} while(current_wp.s < end_distance);
// This ensures the mesh is constant and have no gaps between
// segments and roads
if (current_wp.s - end_distance > EPSILON) {
current_wp.s = end_distance - EPSILON;
const auto edges = GetWaypointCornerPosition(*this, current_wp, lane);
if (end_distance - (current_wp.s - distance) > EPSILON) {
current_wp.s = end_distance;
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);
const size_t last_index = out_mesh.GetLastVertexIndex();
ExtrudeMeshEdge(
out_mesh, edges.first, edges.second, last_index - 1, last_index);