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Improved straight mesh generation

This commit is contained in:
Marc Garcia Puig 2020-03-26 13:16:48 +01:00 committed by bernat
parent 393f6dd527
commit b0038182e6
1 changed files with 16 additions and 7 deletions
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23
LibCarla/source/carla/road/Map.cpp
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@ -988,19 +988,28 @@ namespace road {
lane.GetId(), lane.GetId(),
lane_section.GetDistance() + EPSILON }; lane_section.GetDistance() + EPSILON };
// Iterate over the lane distance and store the vertices based on it's width
std::vector<geom::Vector3D> vertices; std::vector<geom::Vector3D> vertices;
do { if (IsLaneStraight(lane)) {
// Get the location of the edges of the current lane at the current waypoint // Mesh optimization: If the lane is straight just add vertices at the
// begining and at the end of it
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane); const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);
vertices.push_back(edges.first); vertices.push_back(edges.first);
vertices.push_back(edges.second); vertices.push_back(edges.second);
} else {
// Iterate over the lane's 's' and store the vertices based on it's width
do {
// Get the location of the edges of the current lane at the current waypoint
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);
vertices.push_back(edges.first);
vertices.push_back(edges.second);
// Update the current waypoint's "s" // Update the current waypoint's "s"
current_wp.s += distance; current_wp.s += distance;
} while(current_wp.s < end_distance); } while(current_wp.s < end_distance);
}
// This ensures the mesh is constant and have no gaps between roads // This ensures the mesh is constant and have no gaps between roads,
// adding geometry at the very end of the lane
if (end_distance - (current_wp.s - distance) > EPSILON) { if (end_distance - (current_wp.s - distance) > EPSILON) {
current_wp.s = end_distance; current_wp.s = end_distance;
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane); const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);