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Added GetBBsOfActor

This commit is contained in:
doterop 2020-10-07 05:07:35 +02:00
parent 8aedb57a97
commit ce31f3a1b6
2 changed files with 80 additions and 66 deletions
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141
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.cpp
View File

@ -409,75 +409,84 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBoundingBoxOfActors(
uint8 InTagQueried)
{
TArray<FBoundingBox> Result;
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
for(AActor* Actor : Actors)
{
FString ClassName = Actor->GetClass()->GetName();
// Avoid the BP_Procedural_Building to avoid duplication with their child actors
// When improved the BP_Procedural_Building this maybe should be removed
// Note: We don't use casting here because the base class is a BP and is easier to do it this way,
// than getting the UClass of the BP to cast the actor.
if( ClassName.Contains("Procedural_Bulding") ) continue;
// The vehicle's BP has a low-polystatic mesh for collisions, we should avoid it
ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
if (Vehicle)
{
FBoundingBox BoundingBox = GetVehicleBoundingBox(Vehicle, InTagQueried);
if(!BoundingBox.Extent.IsZero())
{
Result.Add(BoundingBox);
}
continue;
}
// Pedestrians, we just use the capsule component at the moment.
ACharacter* Character = Cast<ACharacter>(Actor);
if (Character)
{
FBoundingBox BoundingBox = GetCharacterBoundingBox(Character, InTagQueried);
if(!BoundingBox.Extent.IsZero())
{
Result.Add(BoundingBox);
}
continue;
}
// TrafficLight, we need to join all the BB of the lights in one
ATrafficLightBase* TrafficLight = Cast<ATrafficLightBase>(Actor);
if(TrafficLight)
{
GetTrafficLightBoundingBox(TrafficLight, Result, InTagQueried);
continue;
}
// Calculate FBoundingBox of ISM
TArray<UInstancedStaticMeshComponent *> ISMComps;
Actor->GetComponents<UInstancedStaticMeshComponent>(ISMComps);
for(UInstancedStaticMeshComponent* Comp: ISMComps)
{
// Filter by tag
crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
if(FilterByTagEnabled && Tag != TagQueried) continue;
GetISMBoundingBox(Comp, Result);
}
// Calculate FBoundingBox of SM
TArray<UStaticMeshComponent*> StaticMeshComps;
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
GetBBsOfStaticMeshComponents(StaticMeshComps, Result, InTagQueried);
// Calculate FBoundingBox of SK_M
TArray<USkeletalMeshComponent*> SkeletalMeshComps;
Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, InTagQueried);
TArray<FBoundingBox> BBs = GetBBsOfActor(Actor, InTagQueried);
Result.Append(BBs.GetData(), BBs.Num());
}
return Result;
}
TArray<FBoundingBox> UBoundingBoxCalculator::GetBBsOfActor(
const AActor* Actor,
uint8 InTagQueried)
{
TArray<FBoundingBox> Result;
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
FString ClassName = Actor->GetClass()->GetName();
// Avoid the BP_Procedural_Building to avoid duplication with their child actors
// When improved the BP_Procedural_Building this maybe should be removed
// Note: We don't use casting here because the base class is a BP and is easier to do it this way,
// than getting the UClass of the BP to cast the actor.
if( ClassName.Contains("Procedural_Bulding") ) return Result;
// The vehicle's BP has a low-polystatic mesh for collisions, we should avoid it
const ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
if (Vehicle)
{
FBoundingBox BoundingBox = GetVehicleBoundingBox(Vehicle, InTagQueried);
if(!BoundingBox.Extent.IsZero())
{
Result.Add(BoundingBox);
}
return Result;;
}
// Pedestrians, we just use the capsule component at the moment.
const ACharacter* Character = Cast<ACharacter>(Actor);
if (Character)
{
FBoundingBox BoundingBox = GetCharacterBoundingBox(Character, InTagQueried);
if(!BoundingBox.Extent.IsZero())
{
Result.Add(BoundingBox);
}
return Result;
}
// TrafficLight, we need to join all the BB of the lights in one
const ATrafficLightBase* TrafficLight = Cast<ATrafficLightBase>(Actor);
if(TrafficLight)
{
GetTrafficLightBoundingBox(TrafficLight, Result, InTagQueried);
return Result;
}
// Calculate FBoundingBox of ISM
TArray<UInstancedStaticMeshComponent *> ISMComps;
Actor->GetComponents<UInstancedStaticMeshComponent>(ISMComps);
for(UInstancedStaticMeshComponent* Comp: ISMComps)
{
// Filter by tag
crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
if(FilterByTagEnabled && Tag != TagQueried) continue;
GetISMBoundingBox(Comp, Result);
}
// Calculate FBoundingBox of SM
TArray<UStaticMeshComponent*> StaticMeshComps;
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
GetBBsOfStaticMeshComponents(StaticMeshComps, Result, InTagQueried);
// Calculate FBoundingBox of SK_M
TArray<USkeletalMeshComponent*> SkeletalMeshComps;
Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, InTagQueried);
return Result;
}

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.h
View File

@ -76,4 +76,9 @@ public:
const TArray<AActor*>& Actors,
uint8 InTagQueried = 0);
UFUNCTION(Category = "Carla Util", BlueprintCallable)
static TArray<FBoundingBox> GetBBsOfActor(
const AActor* Actor,
uint8 InTagQueried = 0);
};