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Fix raycast direction when FreeDriving

This commit is contained in:
Marc Garcia Puig 2019-01-26 20:32:25 +01:00
parent 8c8c256543
commit aff20355e3
2 changed files with 9 additions and 4 deletions
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12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
View File

@ -18,7 +18,7 @@
// -- Static local methods ----------------------------------------------------- // -- Static local methods -----------------------------------------------------
// ============================================================================= // =============================================================================
static bool RayTrace(const AActor &Actor, const FVector &Start, const FVector &End) static bool RayCast(const AActor &Actor, const FVector &Start, const FVector &End)
{ {
FHitResult OutHit; FHitResult OutHit;
static FName TraceTag = FName(TEXT("VehicleTrace")); static FName TraceTag = FName(TEXT("VehicleTrace"));
@ -32,6 +32,9 @@ static bool RayTrace(const AActor &Actor, const FVector &Start, const FVector &E
FCollisionObjectQueryParams(FCollisionObjectQueryParams::AllDynamicObjects), FCollisionObjectQueryParams(FCollisionObjectQueryParams::AllDynamicObjects),
CollisionParams); CollisionParams);
// DrawDebugLine(Actor.GetWorld(), Start, End,
// Success ? FColor(255, 0, 0) : FColor(0, 255, 0), false);
return Success && OutHit.bBlockingHit; return Success && OutHit.bBlockingHit;
} }
@ -60,9 +63,9 @@ static bool IsThereAnObstacleAhead(
const FVector EndLeft = StartLeft + NormDirection * (Distance + VehicleBounds.X / 2.0f); const FVector EndLeft = StartLeft + NormDirection * (Distance + VehicleBounds.X / 2.0f);
return return
RayTrace(Vehicle, StartCenter, EndCenter) || RayCast(Vehicle, StartCenter, EndCenter) ||
RayTrace(Vehicle, StartRight, EndRight) || RayCast(Vehicle, StartRight, EndRight) ||
RayTrace(Vehicle, StartLeft, EndLeft); RayCast(Vehicle, StartLeft, EndLeft);
} }
template <typename T> template <typename T>
@ -204,6 +207,7 @@ void AWheeledVehicleAIController::TickAutopilotController()
else else
{ {
Steering = CalcStreeringValue(Direction); Steering = CalcStreeringValue(Direction);
Direction = Vehicle->GetVehicleTransform().GetRotation().Rotator().Vector();
} }
// Speed in km/h. // Speed in km/h.

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
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@ -234,6 +234,7 @@ private:
// =========================================================================== // ===========================================================================
// -- Member variables ------------------------------------------------------- // -- Member variables -------------------------------------------------------
// =========================================================================== // ===========================================================================
/// @{
private: private: