p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Set up RootComponent in ASensor so we don't need to set it up on each individual sensor

This commit is contained in:
nsubiron 2019-06-17 12:10:08 +02:00 committed by Néstor Subirón
parent 7be45fc4a2
commit cea948a7e1
11 changed files with 36 additions and 107 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp
View File

@ -5,7 +5,6 @@
#include "Carla.h"
#include "Carla/Sensor/GnssSensor.h"
#include "StaticMeshResources.h"
FActorDefinition AGnssSensor::GetSensorDefinition()
{
@ -16,11 +15,4 @@ AGnssSensor::AGnssSensor(const FObjectInitializer &ObjectInitializer)
: Super(ObjectInitializer)
{
PrimaryActorTick.bCanEverTick = false;
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
MeshComp->bHiddenInGame = true;
MeshComp->CastShadow = false;
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
RootComponent = MeshComp;
}

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.h
View File

@ -23,5 +23,4 @@ public:
static FActorDefinition GetSensorDefinition();
AGnssSensor(const FObjectInitializer &ObjectInitializer);
};

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LaneInvasionSensor.cpp
View File

@ -5,7 +5,6 @@
#include "Carla.h"
#include "Carla/Sensor/LaneInvasionSensor.h"
#include "StaticMeshResources.h"
FActorDefinition ALaneInvasionSensor::GetSensorDefinition()
{
@ -16,11 +15,4 @@ ALaneInvasionSensor::ALaneInvasionSensor(const FObjectInitializer &ObjectInitial
: Super(ObjectInitializer)
{
PrimaryActorTick.bCanEverTick = false;
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
MeshComp->bHiddenInGame = true;
MeshComp->CastShadow = false;
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
RootComponent = MeshComp;
}
}

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LaneInvasionSensor.h
View File

@ -23,5 +23,4 @@ public:
static FActorDefinition GetSensorDefinition();
ALaneInvasionSensor(const FObjectInitializer &ObjectInitializer);
};

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.cpp
View File

@ -17,13 +17,6 @@ AObstacleDetectionSensor::AObstacleDetectionSensor(const FObjectInitializer &Obj
: Super(ObjectInitializer)
{
PrimaryActorTick.bCanEverTick = true;
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
MeshComp->bHiddenInGame = true;
MeshComp->CastShadow = false;
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
RootComponent = MeshComp;
}
FActorDefinition AObstacleDetectionSensor::GetSensorDefinition()

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.h
View File

@ -47,5 +47,4 @@ private:
bool bOnlyDynamics = false;
bool bDebugLineTrace = false;
};

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
View File

@ -12,7 +12,6 @@
#include "DrawDebugHelpers.h"
#include "Engine/CollisionProfile.h"
#include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
#include "StaticMeshResources.h"
FActorDefinition ARayCastLidar::GetSensorDefinition()
{
@ -23,13 +22,6 @@ ARayCastLidar::ARayCastLidar(const FObjectInitializer& ObjectInitializer)
: Super(ObjectInitializer)
{
PrimaryActorTick.bCanEverTick = true;
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
MeshComp->bHiddenInGame = true;
MeshComp->CastShadow = false;
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
RootComponent = MeshComp;
}
void ARayCastLidar::Set(const FActorDescription &ActorDescription)

59
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
View File

@ -47,19 +47,6 @@ ASceneCaptureSensor::ASceneCaptureSensor(const FObjectInitializer &ObjectInitial
PrimaryActorTick.bCanEverTick = true;
PrimaryActorTick.TickGroup = TG_PrePhysics;
MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh"));
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
MeshComp->bHiddenInGame = true;
MeshComp->CastShadow = false;
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
RootComponent = MeshComp;
DrawFrustum = CreateDefaultSubobject<UDrawFrustumComponent>(TEXT("DrawFrust"));
DrawFrustum->bIsEditorOnly = true;
DrawFrustum->SetupAttachment(MeshComp);
CaptureRenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(
FName(*FString::Printf(TEXT("CaptureRenderTarget_d%d"), SCENE_CAPTURE_COUNTER)));
CaptureRenderTarget->CompressionSettings = TextureCompressionSettings::TC_Default;
@ -70,7 +57,7 @@ ASceneCaptureSensor::ASceneCaptureSensor(const FObjectInitializer &ObjectInitial
CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(
FName(*FString::Printf(TEXT("SceneCaptureComponent2D_%d"), SCENE_CAPTURE_COUNTER)));
CaptureComponent2D->SetupAttachment(MeshComp);
CaptureComponent2D->SetupAttachment(RootComponent);
SceneCaptureSensor_local_ns::SetCameraDefaultOverrides(*CaptureComponent2D);
@ -137,34 +124,6 @@ float ASceneCaptureSensor::GetMotionBlurMinObjectScreenSize() const
return CaptureComponent2D->PostProcessSettings.MotionBlurPerObjectSize;
}
void ASceneCaptureSensor::PostActorCreated()
{
Super::PostActorCreated();
// No need to load the editor mesh when there is no editor.
#if WITH_EDITOR
if (MeshComp)
{
if (!IsRunningCommandlet())
{
if (!MeshComp->GetStaticMesh())
{
UStaticMesh *CamMesh = LoadObject<UStaticMesh>(
NULL,
TEXT("/Engine/EditorMeshes/MatineeCam_SM.MatineeCam_SM"),
NULL,
LOAD_None,
NULL);
MeshComp->SetStaticMesh(CamMesh);
}
}
}
#endif // WITH_EDITOR
// Sync component with CameraActor frustum settings.
UpdateDrawFrustum();
}
void ASceneCaptureSensor::BeginPlay()
{
using namespace SceneCaptureSensor_local_ns;
@ -221,22 +180,6 @@ void ASceneCaptureSensor::EndPlay(const EEndPlayReason::Type EndPlayReason)
SCENE_CAPTURE_COUNTER = 0u;
}
void ASceneCaptureSensor::UpdateDrawFrustum()
{
if (DrawFrustum && CaptureComponent2D)
{
DrawFrustum->FrustumStartDist = GNearClippingPlane;
// 1000 is the default frustum distance, ideally this would be infinite but
// that might cause rendering issues.
DrawFrustum->FrustumEndDist =
(CaptureComponent2D->MaxViewDistanceOverride > DrawFrustum->FrustumStartDist)
? CaptureComponent2D->MaxViewDistanceOverride : 1000.0f;
DrawFrustum->FrustumAngle = CaptureComponent2D->FOVAngle;
}
}
// =============================================================================
// -- Local static functions implementations -----------------------------------
// =============================================================================

14
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
View File

@ -115,8 +115,6 @@ public:
protected:
virtual void PostActorCreated() override;
virtual void BeginPlay() override;
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
@ -125,10 +123,6 @@ protected:
private:
/// Used to synchronize the DrawFrustumComponent with the
/// SceneCaptureComponent2D settings.
void UpdateDrawFrustum();
/// Image width in pixels.
UPROPERTY(EditAnywhere)
uint32 ImageWidth = 800u;
@ -151,12 +145,4 @@ private:
/// Scene capture component.
UPROPERTY(EditAnywhere)
USceneCaptureComponent2D *CaptureComponent2D = nullptr;
/// To display the 3d camera in the editor.
UPROPERTY()
UStaticMeshComponent *MeshComp = nullptr;
/// To allow drawing the camera frustum in the editor.
UPROPERTY()
UDrawFrustumComponent *DrawFrustum = nullptr;
};

30
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
View File

@ -10,6 +10,17 @@
#include "Carla/Actor/ActorDescription.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
ASensor::ASensor(const FObjectInitializer &ObjectInitializer)
: Super(ObjectInitializer)
{
auto *Mesh = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh"));
Mesh->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
Mesh->bHiddenInGame = true;
Mesh->CastShadow = false;
Mesh->PostPhysicsComponentTick.bCanEverTick = false;
RootComponent = Mesh;
}
void ASensor::Set(const FActorDescription &Description)
{
// set the tick interval of the sensor
@ -21,6 +32,25 @@ void ASensor::Set(const FActorDescription &Description)
}
}
void ASensor::PostActorCreated()
{
Super::PostActorCreated();
#if WITH_EDITOR
auto *StaticMeshComponent = Cast<UStaticMeshComponent>(RootComponent);
if (StaticMeshComponent && !IsRunningCommandlet() && !StaticMeshComponent->GetStaticMesh())
{
UStaticMesh *CamMesh = LoadObject<UStaticMesh>(
NULL,
TEXT("/Engine/EditorMeshes/MatineeCam_SM.MatineeCam_SM"),
NULL,
LOAD_None,
NULL);
StaticMeshComponent->SetStaticMesh(CamMesh);
}
#endif // WITH_EDITOR
}
void ASensor::EndPlay(EEndPlayReason::Type EndPlayReason)
{
Super::EndPlay(EndPlayReason);

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
View File

@ -23,6 +23,8 @@ class CARLA_API ASensor : public AActor
public:
ASensor(const FObjectInitializer &ObjectInitializer);
void SetEpisode(const UCarlaEpisode &InEpisode)
{
Episode = &InEpisode;
@ -46,6 +48,8 @@ public:
protected:
void PostActorCreated() override;
void EndPlay(EEndPlayReason::Type EndPlayReason) override;
const UCarlaEpisode &GetEpisode() const