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Used new tri strip function to generate road mesh

This commit is contained in:
Marc Garcia Puig 2020-03-24 16:57:50 +01:00 committed by bernat
parent e20bb714b0
commit d467bbb1da
5 changed files with 19 additions and 97 deletions
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2
CHANGELOG.md
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@ -2,7 +2,7 @@
* Upgraded to Unreal Engine 4.24
* Fixed autonomous agents' incorrect detection of red traffic lights affecting them
* Added walkable pedestrian crossings to OpenDRIVE standalone mode
* Added walkable pedestrian crosswalks in OpenDRIVE standalone mode
* Improved manual_control by adding realistic throttle and brake
* Added new Behavior agent

4
LibCarla/source/carla/geom/Mesh.cpp
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@ -306,10 +306,6 @@ namespace geom {
return *this;
}
// Mesh operator+(Mesh &lhs, const Mesh &rhs) {
// return lhs += rhs;
// }
Mesh operator+(const Mesh &lhs, const Mesh &rhs) {
Mesh m = lhs;
return m += rhs;

13
LibCarla/source/carla/geom/Mesh.h
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@ -134,7 +134,6 @@ namespace geom {
/// Merges two meshes into a single mesh
Mesh &operator+=(const Mesh &rhs);
Mesh &operator+(const Mesh &rhs);
friend Mesh operator+(const Mesh &lhs, const Mesh &rhs);
@ -153,18 +152,6 @@ namespace geom {
std::vector<uv_type> _uvs;
std::vector<material_type> _materials;
#ifdef LIBCARLA_INCLUDED_FROM_UE4
// Location(const FVector &vector) // from centimeters to meters.
// : Location(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
// operator FVector() const {
// return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
// }
#endif // LIBCARLA_INCLUDED_FROM_UE4
};
} // namespace geom

69
LibCarla/source/carla/road/Map.cpp
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@ -941,34 +941,6 @@ namespace road {
return _data.GetJunction(id);
}
static void ExtrudeMeshEdge(
geom::Mesh &mesh,
geom::Vector3D new_vertex1,
geom::Vector3D new_vertex2,
size_t connection_index_1,
size_t connection_index_2) {
// Add the vertices
mesh.AddVertex(new_vertex1);
mesh.AddVertex(new_vertex2);
// Find the indexes
const size_t last_index = mesh.GetLastVertexIndex();
const size_t bottom_left_index = connection_index_1; // local quad index: 1
const size_t bottom_right_index = connection_index_2; // local quad index: 2
const size_t top_left_index = last_index - 1; // local quad index: 3
const size_t top_right_index = last_index; // local quad index: 4
// Vertex order is counter clockwise:
// First triangle: 1 -> 2 -> 4
mesh.AddIndex(bottom_left_index); // local quad index: 1
mesh.AddIndex(bottom_right_index); // local quad index: 2
mesh.AddIndex(top_right_index); // local quad index: 4
// Second triangle: 1 -> 4 -> 3
mesh.AddIndex(bottom_left_index); // local quad index: 1
mesh.AddIndex(top_right_index); // local quad index: 4
mesh.AddIndex(top_left_index); // local quad index: 3
}
/// Computes the location of the edges of the current lane at the current waypoint
static std::pair<geom::Vector3D, geom::Vector3D> GetWaypointCornerPositions(
const Map &map, const Waypoint &waypoint, const Lane &lane) {
@ -1016,42 +988,29 @@ namespace road {
lane.GetId(),
lane_section.GetDistance() + EPSILON };
if (lane.GetType() == Lane::LaneType::Sidewalk) {
out_mesh.AddMaterial("sidewalk");
} else {
out_mesh.AddMaterial("road");
}
std::pair<geom::Vector3D, geom::Vector3D> edges;
if (!IsLaneStraight(lane)) {
// Iterate over the lane distance and store the vertices based on it's width
std::vector<geom::Vector3D> vertices;
do {
// Get the location of the edges of the current lane at the current waypoint
edges = GetWaypointCornerPositions(*this, current_wp, lane);
if (out_mesh.GetVerticesNum() < 2) {
// Add 2 first vertices only
out_mesh.AddVertex(edges.first);
out_mesh.AddVertex(edges.second);
} else {
// Extrude adding vertices and joining the using indices
const size_t last_index = out_mesh.GetLastVertexIndex();
ExtrudeMeshEdge(
out_mesh, edges.first, edges.second, last_index - 1, last_index);
}
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);
vertices.push_back(edges.first);
vertices.push_back(edges.second);
// Update the current waypoint's "s"
current_wp.s += distance;
} while(current_wp.s < end_distance);
}
// This ensures the mesh is constant and have no gaps between
// segments and roads
// This ensures the mesh is constant and have no gaps between roads
if (end_distance - (current_wp.s - distance) > EPSILON) {
current_wp.s = end_distance;
edges = GetWaypointCornerPositions(*this, current_wp, lane);
const size_t last_index = out_mesh.GetLastVertexIndex();
ExtrudeMeshEdge(
out_mesh, edges.first, edges.second, last_index - 1, last_index);
const auto edges = GetWaypointCornerPositions(*this, current_wp, lane);
vertices.push_back(edges.first);
vertices.push_back(edges.second);
}
// Add the adient material, create the strip and close the material
out_mesh.AddMaterial(
lane.GetType() == Lane::LaneType::Sidewalk ? "sidewalk" : "road");
out_mesh.AddTriangleStrip(vertices);
out_mesh.EndMaterial();
}
}

20
LibCarla/source/carla/road/Map.h
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@ -20,15 +20,6 @@
#include <vector>
// TODO delete this
#include <fstream>
#include <string>
#include <iostream>
//
namespace carla {
namespace road {
@ -43,17 +34,6 @@ namespace road {
Map(MapData m) : _data(std::move(m)) {
CreateRtree();
// todo: delete -----------
// | | | |
// v v v v
std::ofstream out_road("road.obj");
out_road << GenerateMesh(2).GenerateOBJForRecast();
out_road.close();
std::ofstream out_cross("cross.obj");
out_cross << GetAllCrosswalkMesh().GenerateOBJForRecast();
out_cross.close();
}
/// ========================================================================