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Adding 'grass' type zone

This commit is contained in:
bernatx 2019-11-06 13:59:22 +01:00 committed by bernat
parent 855ebda6e2
commit b72bc88e2b
1 changed files with 11 additions and 6 deletions
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17
LibCarla/source/carla/nav/Navigation.cpp
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@ -27,7 +27,8 @@ namespace nav {
SAMPLE_POLYFLAGS_DOOR = 0x04, // Ability to move through doors. SAMPLE_POLYFLAGS_DOOR = 0x04, // Ability to move through doors.
SAMPLE_POLYFLAGS_JUMP = 0x08, // Ability to jump. SAMPLE_POLYFLAGS_JUMP = 0x08, // Ability to jump.
SAMPLE_POLYFLAGS_DISABLED = 0x10, // Disabled polygon SAMPLE_POLYFLAGS_DISABLED = 0x10, // Disabled polygon
SAMPLE_POLYFLAGS_CROSS = 0x20, // Ability to cross through road SAMPLE_POLYFLAGS_ROAD = 0x20, // Ability to walk on road
SAMPLE_POLYFLAGS_GRASS = 0x40, // Ability to walk on grass
SAMPLE_POLYFLAGS_ALL = 0xffff // All abilities. SAMPLE_POLYFLAGS_ALL = 0xffff // All abilities.
}; };
@ -53,7 +54,8 @@ namespace nav {
static const float AGENT_UNBLOCK_DISTANCE_SQUARED = AGENT_UNBLOCK_DISTANCE * AGENT_UNBLOCK_DISTANCE; static const float AGENT_UNBLOCK_DISTANCE_SQUARED = AGENT_UNBLOCK_DISTANCE * AGENT_UNBLOCK_DISTANCE;
static const float AGENT_UNBLOCK_TIME = 4.0f; static const float AGENT_UNBLOCK_TIME = 4.0f;
static const float AREA_ROAD_COST = 10.0f; static const float AREA_GRASS_COST = 1.0f;
static const float AREA_ROAD_COST = 10.0f;
// return a random float // return a random float
static float frand() { static float frand() {
@ -215,14 +217,16 @@ namespace nav {
} }
// set different filters // set different filters
// filter 0 can not cross roads // filter 0 can not walk on roads
_crowd->getEditableFilter(0)->setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED); _crowd->getEditableFilter(0)->setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
_crowd->getEditableFilter(0)->setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED | SAMPLE_POLYFLAGS_CROSS); _crowd->getEditableFilter(0)->setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED | SAMPLE_POLYFLAGS_ROAD);
_crowd->getEditableFilter(0)->setAreaCost(SAMPLE_POLYAREA_ROAD, AREA_ROAD_COST); _crowd->getEditableFilter(0)->setAreaCost(SAMPLE_POLYAREA_ROAD, AREA_ROAD_COST);
// filter 1 can cross roads _crowd->getEditableFilter(0)->setAreaCost(SAMPLE_POLYAREA_GRASS, AREA_GRASS_COST);
// filter 1 can walk on roads
_crowd->getEditableFilter(1)->setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED); _crowd->getEditableFilter(1)->setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
_crowd->getEditableFilter(1)->setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED); _crowd->getEditableFilter(1)->setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED);
_crowd->getEditableFilter(1)->setAreaCost(SAMPLE_POLYAREA_ROAD, AREA_ROAD_COST); _crowd->getEditableFilter(1)->setAreaCost(SAMPLE_POLYAREA_ROAD, AREA_ROAD_COST);
_crowd->getEditableFilter(1)->setAreaCost(SAMPLE_POLYAREA_GRASS, AREA_GRASS_COST);
// Setup local avoidance params to different qualities. // Setup local avoidance params to different qualities.
dtObstacleAvoidanceParams params; dtObstacleAvoidanceParams params;
@ -293,6 +297,7 @@ namespace nav {
dtQueryFilter filter2; dtQueryFilter filter2;
if (filter == nullptr) { if (filter == nullptr) {
filter2.setAreaCost(SAMPLE_POLYAREA_ROAD, AREA_ROAD_COST); filter2.setAreaCost(SAMPLE_POLYAREA_ROAD, AREA_ROAD_COST);
filter2.setAreaCost(SAMPLE_POLYAREA_GRASS, AREA_GRASS_COST);
filter2.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED); filter2.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
filter2.setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED); filter2.setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED);
filter = &filter2; filter = &filter2;
@ -1076,7 +1081,7 @@ namespace nav {
dtQueryFilter filter2; dtQueryFilter filter2;
if (filter == nullptr) { if (filter == nullptr) {
filter2.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED); filter2.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
filter2.setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED | SAMPLE_POLYFLAGS_CROSS); filter2.setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED | SAMPLE_POLYFLAGS_ROAD | SAMPLE_POLYFLAGS_GRASS);
filter = &filter2; filter = &filter2;
} }