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Fixes from review

This commit is contained in:
bernatx 2023-04-14 08:49:03 +02:00 committed by bernat
parent 938ee194d8
commit b7a1c8ad6a
4 changed files with 23 additions and 20 deletions
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2
LibCarla/source/carla/client/detail/WalkerNavigation.cpp
View File

@ -60,7 +60,7 @@ namespace detail {
}
}
_simulator.lock()->ApplyBatchSync(std::move(commands), false);
// check if any agent has been killed
bool alive;
for (auto handle : *walkers) {

4
LibCarla/source/carla/nav/WalkerEvent.h
View File

@ -46,8 +46,8 @@ namespace nav {
double time;
bool check_for_trafficlight;
SharedPtr<carla::client::TrafficLight> actor;
WalkerEventStopAndCheck(double duration) : time(duration),
check_for_trafficlight(true)
WalkerEventStopAndCheck(double duration) : time(duration),
check_for_trafficlight(true)
{};
};

35
LibCarla/source/carla/nav/WalkerManager.cpp
View File

@ -288,7 +288,8 @@ namespace nav {
// check traffic lights only
if (actor.description.id == "traffic.traffic_light") {
// get the TL actor
SharedPtr<carla::client::TrafficLight> tl = boost::static_pointer_cast<carla::client::TrafficLight>(world.GetActor(actor.id));
SharedPtr<carla::client::TrafficLight> tl =
boost::static_pointer_cast<carla::client::TrafficLight>(world.GetActor(actor.id));
// get the waypoints where the TL affects
std::vector<SharedPtr<carla::client::Waypoint>> list = tl->GetStopWaypoints();
for (auto &way : list) {
@ -302,22 +303,24 @@ namespace nav {
// return the trafficlight affecting that position
SharedPtr<carla::client::TrafficLight> WalkerManager::GetTrafficLightAffecting(carla::geom::Location UnrealPos, float max_distance) {
float min_dist = std::numeric_limits<float>::infinity();
SharedPtr<carla::client::TrafficLight> actor;
for (auto &&item : _traffic_lights) {
float dist = UnrealPos.DistanceSquared(item.second);
if (dist < min_dist) {
min_dist = dist;
actor = item.first;
SharedPtr<carla::client::TrafficLight> WalkerManager::GetTrafficLightAffecting(
carla::geom::Location UnrealPos,
float max_distance) {
float min_dist = std::numeric_limits<float>::infinity();
SharedPtr<carla::client::TrafficLight> actor;
for (auto &&item : _traffic_lights) {
float dist = UnrealPos.DistanceSquared(item.second);
if (dist < min_dist) {
min_dist = dist;
actor = item.first;
}
}
// if distance is not in the limit, then reject the trafficlight
if (max_distance < 0.0f || min_dist <= max_distance * max_distance) {
return actor;
} else {
return SharedPtr<carla::client::TrafficLight>();
}
}
// if distance is not in the limit, then reject the trafficlight
if (max_distance < 0.0f || min_dist <= max_distance * max_distance) {
return actor;
} else {
return SharedPtr<carla::client::TrafficLight>();
}
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
View File

@ -224,7 +224,7 @@ public:
ECarlaServerResponse AddActorTorque(const FVector& Torque);
virtual ECarlaServerResponse SetActorSimulatePhysics(bool bEnabled);
virtual ECarlaServerResponse SetActorCollisions(bool bEnabled);
virtual ECarlaServerResponse SetActorEnableGravity(bool bEnabled);