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Fixed child-parent when waking up dormant actors. Added profiling traces. Fixed transformation of debug shapes in large maps.

This commit is contained in:
Axel 2021-05-20 16:02:04 +02:00 committed by bernat
parent 34084f272f
commit ca9ffeb270
4 changed files with 93 additions and 26 deletions
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8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorData.cpp
View File

@ -94,7 +94,10 @@ void FVehicleData::RecordActorData(AActor* Actor, UCarlaEpisode* CarlaEpisode)
{
FActorData::RecordActorData(Actor, CarlaEpisode);
ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
if (bSimulatePhysics)
{
PhysicsControl = Vehicle->GetVehiclePhysicsControl();
}
Control = Vehicle->GetVehicleControl();
LightState = Vehicle->GetVehicleLightState();
}
@ -103,10 +106,13 @@ void FVehicleData::RestoreActorData(AActor* Actor, UCarlaEpisode* CarlaEpisode)
{
FActorData::RestoreActorData(Actor, CarlaEpisode);
ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
Vehicle->SetSimulatePhysics(bSimulatePhysics);
if (bSimulatePhysics)
{
Vehicle->ApplyVehiclePhysicsControl(PhysicsControl);
}
Vehicle->ApplyVehicleControl(Control, EVehicleInputPriority::Client);
Vehicle->SetVehicleLightState(LightState);
Vehicle->SetSimulatePhysics(bSimulatePhysics);
}
void FWalkerData::RecordActorData(AActor* Actor, UCarlaEpisode* CarlaEpisode)

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaStatics.h
View File

@ -46,6 +46,9 @@ public:
static ACarlaRecorder* GetRecorder(const UObject *WorldContextObject);
static CarlaReplayer* GetReplayer(const UObject *WorldContextObject);
UFUNCTION(BlueprintPure, Category="CARLA", meta=(WorldContext="WorldContextObject"))
static ALargeMapManager* GetLargeMapManager(const UObject *WorldContextObject);
};
// =============================================================================
@ -93,3 +96,13 @@ inline CarlaReplayer* UCarlaStatics::GetReplayer(const UObject *WorldContextObje
}
return nullptr;
}
inline ALargeMapManager* UCarlaStatics::GetLargeMapManager(const UObject *WorldContextObject)
{
ACarlaGameModeBase* GameMode = GetGameMode(WorldContextObject);
if (GameMode)
{
return GameMode->GetLMManager();
}
return nullptr;
}

31
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.cpp
View File

@ -63,6 +63,9 @@ void ALargeMapManager::BeginPlay()
WorldComposition->bRebaseOriginIn3DSpace = true;
WorldComposition->RebaseOriginDistance = RebaseOriginDistance;
LayerStreamingDistanceSquared = LayerStreamingDistance * LayerStreamingDistance;
ActorStreamingDistanceSquared = ActorStreamingDistance * ActorStreamingDistance;
RebaseOriginDistanceSquared = RebaseOriginDistance * RebaseOriginDistance;
}
void ALargeMapManager::PreWorldOriginOffset(UWorld* InWorld, FIntVector InSrcOrigin, FIntVector InDstOrigin)
@ -72,6 +75,7 @@ void ALargeMapManager::PreWorldOriginOffset(UWorld* InWorld, FIntVector InSrcOri
void ALargeMapManager::PostWorldOriginOffset(UWorld* InWorld, FIntVector InSrcOrigin, FIntVector InDstOrigin)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::PostWorldOriginOffset);
CurrentOriginInt = InDstOrigin;
CurrentOriginD = FDVector(InDstOrigin);
@ -119,6 +123,7 @@ void ALargeMapManager::OnLevelRemovedFromWorld(ULevel* InLevel, UWorld* InWorld)
void ALargeMapManager::RegisterInitialObjects()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::RegisterInitialObjects);
UWorld* World = GetWorld();
UCarlaEpisode* CurrentEpisode = UCarlaStatics::GetCurrentEpisode(World);
const FActorRegistry& ActorRegistry = CurrentEpisode->GetActorRegistry();
@ -131,6 +136,7 @@ void ALargeMapManager::RegisterInitialObjects()
void ALargeMapManager::OnActorSpawned(
const FActorView& ActorView)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::OnActorSpawned);
UWorld* World = GetWorld();
const FActorInfo* ActorInfo = ActorView.GetActorInfo();
AActor* Actor = const_cast<AActor*>(ActorView.GetActor());
@ -240,6 +246,8 @@ FVector ALargeMapManager::LocalToGlobalLocation(const FVector& InLocation) const
return CurrentOriginD.ToFVector() + InLocation;
}
float tick_execution_time = 0;
uint64_t num_ticks = 0;
void ALargeMapManager::Tick(float DeltaTime)
{
Super::Tick(DeltaTime);
@ -275,6 +283,7 @@ void ALargeMapManager::GenerateLargeMap() {
void ALargeMapManager::GenerateMap(FString InAssetsPath)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::GenerateMap);
LM_LOG(Warning, "Generating Map %s ...", *InAssetsPath);
AssetsPath = InAssetsPath;
@ -561,6 +570,7 @@ ULevelStreamingDynamic* ALargeMapManager::AddNewTile(FString TileName, FVector T
}
FCarlaMapTile& ALargeMapManager::LoadCarlaMapTile(FString TileMapPath, TileID TileId) {
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::LoadCarlaMapTile);
// Need to generate a new Tile
FCarlaMapTile NewTile;
// 1 - Calculate the Tile position
@ -650,6 +660,7 @@ FCarlaMapTile& ALargeMapManager::LoadCarlaMapTile(FString TileMapPath, TileID Ti
void ALargeMapManager::UpdateTilesState()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::UpdateTilesState);
TSet<TileID> TilesToConsider;
// Loop over ActorsToConsider to update the state of the map tiles
@ -680,7 +691,7 @@ void ALargeMapManager::UpdateTilesState()
void ALargeMapManager::RemovePendingActorsToRemove()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::RemovePendingActorsToRemove);
if(ActorsToRemove.Num() > 0 || GhostsToRemove.Num() > 0)
{
LM_LOG(Error, "ActorsToRemove %d GhostsToRemove %d", ActorsToRemove.Num(), GhostsToRemove.Num());
@ -708,6 +719,7 @@ void ALargeMapManager::RemovePendingActorsToRemove()
void ALargeMapManager::CheckGhostActors()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::CheckGhostActors);
UWorld* World = GetWorld();
UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(World);
// Check if they have to be destroyed
@ -734,14 +746,6 @@ void ALargeMapManager::CheckGhostActors()
float DistanceSquared = (RelativeLocation - HeroLocation).SizeSquared();
// LM_LOG(Warning, "CheckGhostActors\n\t%s\n\tRelLoc: %s\n\tOrigin: %s\n\tWorldLoc: %s\n\tTile %s\n\tDist %.2f (%.2f)", \
// *Actor->GetName(), *RelativeLocation.ToString(), \
// *CurrentOriginD.ToString(), \
// *WorldLocation.ToString(), \
// *TileIDToString(GetTileID(WorldLocation)),\
// RelativeLocation.Size(), ActorStreamingDistance \
// );
if (DistanceSquared > ActorStreamingDistanceSquared)
{
LM_LOG(Warning, "CheckGhostActors Tile not loaded %s %s (%s)-> Ghost To Dormant %s", \
@ -767,6 +771,7 @@ void ALargeMapManager::CheckGhostActors()
void ALargeMapManager::ConvertGhostToDormantActors()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::ConvertGhostToDormantActors);
UWorld* World = GetWorld();
UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(World);
@ -788,6 +793,7 @@ void ALargeMapManager::ConvertGhostToDormantActors()
void ALargeMapManager::CheckDormantActors()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::CheckDormantActors);
UWorld* World = GetWorld();
UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(World);
@ -837,6 +843,7 @@ void ALargeMapManager::CheckDormantActors()
void ALargeMapManager::ConvertDormantToGhostActors()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::ConvertDormantToGhostActors);
UWorld* World = GetWorld();
UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(World);
@ -867,6 +874,7 @@ void ALargeMapManager::ConvertDormantToGhostActors()
void ALargeMapManager::CheckIfRebaseIsNeeded()
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::CheckIfRebaseIsNeeded);
if(ActorsToConsider.Num() > 0)
{
UWorld* World = GetWorld();
@ -893,6 +901,7 @@ void ALargeMapManager::CheckIfRebaseIsNeeded()
void ALargeMapManager::GetTilesToConsider(const AActor* ActorToConsider,
TSet<TileID>& OutTilesToConsider)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::GetTilesToConsider);
check(ActorToConsider);
// World location
FDVector ActorLocation = CurrentOriginD + ActorToConsider->GetActorLocation();
@ -914,6 +923,7 @@ void ALargeMapManager::GetTilesToConsider(const AActor* ActorToConsider,
FCarlaMapTile* Tile = MapTiles.Find(TileID);
if (!Tile)
{
LM_LOG(Warning, "Requested tile %d, %d but tile was not found", TileToCheck.X, TileToCheck.Y);
continue; // Tile does not exist, discard
}
@ -934,6 +944,7 @@ void ALargeMapManager::GetTilesThatNeedToChangeState(
TSet<TileID>& OutTilesToBeVisible,
TSet<TileID>& OutTilesToHidde)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::GetTilesThatNeedToChangeState);
OutTilesToBeVisible = InTilesToConsider.Difference(CurrentTilesLoaded);
OutTilesToHidde = CurrentTilesLoaded.Difference(InTilesToConsider);
}
@ -944,6 +955,7 @@ void ALargeMapManager::UpdateTileState(
bool InShouldBeLoaded,
bool InShouldBeVisible)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::UpdateTileState);
UWorld* World = GetWorld();
UWorldComposition* WorldComposition = World->WorldComposition;
@ -963,6 +975,7 @@ void ALargeMapManager::UpdateCurrentTilesLoaded(
const TSet<TileID>& InTilesToBeVisible,
const TSet<TileID>& InTilesToHidde)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::UpdateCurrentTilesLoaded);
for (const TileID TileID : InTilesToHidde)
{
CurrentTilesLoaded.Remove(TileID);

63
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp
View File

@ -7,6 +7,7 @@
#include "Carla.h"
#include "Carla/Util/DebugShapeDrawer.h"
#include "Carla/Game/CarlaHUD.h"
#include "Carla/MapGen/LargeMapManager.h"
#include "DrawDebugHelpers.h"
#include "Components/LineBatchComponent.h"
@ -33,8 +34,14 @@ struct FShapeVisitor
void operator()(const Shape::Point &Point) const
{
FVector Location = FVector(Point.location);
ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
if (LargeMap)
{
Location = LargeMap->GlobalToLocalLocation(Location);
}
World->PersistentLineBatcher->DrawPoint(
Point.location,
Location,
Color,
1e2f * Point.size,
DepthPriority,
@ -43,9 +50,17 @@ struct FShapeVisitor
void operator()(const Shape::Line &Line) const
{
FVector Begin = FVector(Line.begin);
FVector End = FVector(Line.end);
ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
if (LargeMap)
{
Begin = LargeMap->GlobalToLocalLocation(Begin);
End = LargeMap->GlobalToLocalLocation(End);
}
World->PersistentLineBatcher->DrawLine(
Line.begin,
Line.end,
Begin,
End,
Color,
DepthPriority,
1e2f * Line.thickness,
@ -54,48 +69,56 @@ struct FShapeVisitor
void operator()(const Shape::Arrow &Arrow) const
{
const auto Diff = Arrow.line.end - Arrow.line.begin;
FVector Begin = FVector(Arrow.line.begin);
FVector End = FVector(Arrow.line.end);
ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
if (LargeMap)
{
Begin = LargeMap->GlobalToLocalLocation(Begin);
End = LargeMap->GlobalToLocalLocation(End);
}
const auto Diff = End - Begin;
const FRotator LookAt = FRotationMatrix::MakeFromX(Diff).Rotator();
const FTransform Transform = {LookAt, Arrow.line.begin};
const FTransform Transform = {LookAt, Begin};
// Everything in centimeters
const auto Dist = 1e2f * Diff.Length();
const auto Dist = Diff.Size();
const auto ArrowSize = 1e2f * Arrow.arrow_size;
const auto ArrowTipDist = Dist - ArrowSize;
const auto Thickness = 1e2f * Arrow.line.thickness;
World->PersistentLineBatcher->DrawLines(TArray<FBatchedLine>({
FBatchedLine(
Arrow.line.begin,
Arrow.line.end,
Begin,
End,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, +ArrowSize)),
Arrow.line.end,
End,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, -ArrowSize)),
Arrow.line.end,
End,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, +ArrowSize)),
Arrow.line.end,
End,
Color,
LifeTime,
Thickness,
DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, -ArrowSize)),
Arrow.line.end,
End,
Color,
LifeTime,
Thickness,
@ -105,9 +128,15 @@ struct FShapeVisitor
void operator()(const Shape::Box &Box) const
{
const FVector Extent = 1e2f * FVector{Box.box.extent.x, Box.box.extent.y, Box.box.extent.z};
const FTransform Transform = {FRotator(Box.rotation), Box.box.location};
FTransform Transform = {FRotator(Box.rotation), Box.box.location};
const auto Thickness = 1e2f * Box.thickness;
ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
if (LargeMap)
{
Transform = LargeMap->GlobalToLocalTransform(Transform);
}
FVector B[2], P, Q;
B[0] = -Extent;
B[1] = Extent;
@ -169,8 +198,14 @@ struct FShapeVisitor
UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
return;
}
FVector Location = FVector(Str.location);
ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
if (LargeMap)
{
Location = LargeMap->GlobalToLocalLocation(Location);
}
ACarlaHUD *Hud = Cast<ACarlaHUD>(PlayerController->GetHUD());
Hud->AddHUDString(carla::rpc::ToFString(Str.text), Str.location, Color.Quantize(), LifeTime);
Hud->AddHUDString(carla::rpc::ToFString(Str.text), Location, Color.Quantize(), LifeTime);
}
private: