Retrieve BBs of level (#3360)
* Added new function to calculate BBs on SKM and SM * Added BB calculation for an array of actors * Added BB folliage calculation * Added a call on the GM to get all the BBs of the level * Fixed Folliage BB calculation. * GM::GetAllBBsOfLevel now returns the array of BBs * Added call on the server side to retrieve the BBs * Removed debug draw calls * Added call to the PythonAPI * Added check for empty folliage actors * Added missing EOF * Added new RotateVector function * Added rotation to the BBs * Update changelog * Split BB calculation on more functions * Add tag query and simplified Folliage actor BB calculation * Look for ISM instead of HISM * Cleaning comments * Fixed BB duplication on BP_Procedural_Buildings * Fixed BB duplication on vehicles BPs * Added pedestrians case * Added CityObjectLabel enum on PythonAPI * Splitted logic in small functions * Fixed uint8_t * Merged BB of the lights in a TL * Splitted work into more functions * Added missing BB and rotation to TL * Cleaned comments * Added missing include * Changed None to Any in PythonAPI * Fixed Any enum * Added check for empty folliage actors * Added missing EOF * Added new RotateVector function * Added rotation to the BBs * Update changelog * Split BB calculation on more functions * Add tag query and simplified Folliage actor BB calculation * Look for ISM instead of HISM * Cleaning comments * Fixed BB duplication on BP_Procedural_Buildings * Fixed BB duplication on vehicles BPs * Added pedestrians case * Added CityObjectLabel enum on PythonAPI * Splitted logic in small functions * Fixed uint8_t * Merged BB of the lights in a TL * Splitted work into more functions * Added missing BB and rotation to TL * Cleaned comments * Changed None to Any in PythonAPI * Fixed Any enum * Fixed rebase * Fixing wrong BB on splines * Fixed ISM transform to World * Fixed duplication of RotateVector * Added Rotation to BB output string * Removed hidden components and procedural building * Fixed string BB output * Removed logs * Fixed filter on pedestrians * Fixed black debug lines in package Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
This commit is contained in:
doterop
GitHub
parent
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commit
e05b58c2a4
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@ -88,30 +88,8 @@ namespace geom {
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}
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Vector3D RotateVector(const Vector3D& in_point) const {
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// Rotates Rz(yaw) * Ry(pitch) * Rx(roll) = first x, then y, then z.
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const float cy = std::cos(Math::ToRadians(yaw));
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const float sy = std::sin(Math::ToRadians(yaw));
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const float cr = std::cos(Math::ToRadians(roll));
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const float sr = std::sin(Math::ToRadians(roll));
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const float cp = std::cos(Math::ToRadians(pitch));
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const float sp = std::sin(Math::ToRadians(pitch));
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Vector3D out_point;
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out_point.x =
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in_point.x * (cp * cy) +
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in_point.y * (cy * sp * sr - sy * cr) +
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in_point.z * (-cy * sp * cr - sy * sr);
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out_point.y =
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in_point.x * (cp * sy) +
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in_point.y * (sy * sp * sr + cy * cr) +
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in_point.z * (-sy * sp * cr + cy * sr);
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out_point.z =
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in_point.x * (sp) +
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in_point.y * (-cp * sr) +
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in_point.z * (cp * cr);
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Vector3D out_point = in_point;
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RotateVector(out_point);
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return out_point;
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}
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@ -65,6 +65,7 @@ namespace geom {
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std::ostream &operator<<(std::ostream &out, const BoundingBox &box) {
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out << "BoundingBox(" << box.location << ", ";
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WriteVector3D(out, "Extent", box.extent);
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out << ", " << box.rotation;
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out << ')';
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return out;
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}
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@ -61,7 +61,6 @@ static void WritePixelsToBuffer_Vulkan(
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FTexture2DRHIRef Texture = RenderResource->GetRenderTargetTexture();
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if (!Texture)
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{
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UE_LOG(LogCarla, Error, TEXT("FPixelReader: UTextureRenderTarget2D missing render target texture"));
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return;
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}
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@ -156,8 +156,14 @@ FBoundingBox UBoundingBoxCalculator::GetCharacterBoundingBox(
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{
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check(Character);
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crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
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bool FilterByTag = TagQueried == crp::CityObjectLabel::None ||
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TagQueried == crp::CityObjectLabel::Pedestrians;
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UCapsuleComponent* Capsule = Character->GetCapsuleComponent();
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if (Capsule)
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if (Capsule && FilterByTag)
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{
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const float Radius = Capsule->GetScaledCapsuleRadius();
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const float HalfHeight = Capsule->GetScaledCapsuleHalfHeight();
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@ -318,12 +324,15 @@ void UBoundingBoxCalculator::GetISMBoundingBox(
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return;
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}
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const TArray<FInstancedStaticMeshInstanceData>& PerInstanceSMData = ISMComp->PerInstanceSMData;
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const TArray<FInstancedStaticMeshInstanceData>& PerInstanceSMData = ISMComp->PerInstanceSMData;
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const FTransform ParentTransform = ISMComp->GetComponentTransform();
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for(auto& InstSMIData : PerInstanceSMData)
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{
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const FTransform Transform = FTransform(InstSMIData.Transform);
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const FTransform Transform = FTransform(InstSMIData.Transform) * ParentTransform;
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FBoundingBox BoundingBox = ApplyTransformToBB(SMBoundingBox, Transform);
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OutBoundingBox.Add(BoundingBox);
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}
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@ -339,6 +348,10 @@ void UBoundingBoxCalculator::GetBBsOfStaticMeshComponents(
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for(UStaticMeshComponent* Comp : StaticMeshComps)
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{
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// Avoid duplication with SMComp and not visible meshes
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if(!Comp->IsVisible() || Cast<UInstancedStaticMeshComponent>(Comp)) continue;
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// Filter by tag
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crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
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if(FilterByTagEnabled && Tag != TagQueried) continue;
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@ -372,7 +385,8 @@ void UBoundingBoxCalculator::GetBBsOfSkeletalMeshComponents(
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{
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// Filter by tag
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crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
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if(FilterByTagEnabled && Tag != TagQueried) continue;
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if(!Comp->IsVisible() || (FilterByTagEnabled && Tag != TagQueried)) continue;
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USkeletalMesh* SkeletalMesh = Comp->SkeletalMesh;
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FBoundingBox BoundingBox = GetSkeletalMeshBoundingBox(SkeletalMesh);
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@ -406,7 +420,7 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBoundingBoxOfActors(
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// When improved the BP_Procedural_Building this maybe should be removed
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// Note: We don't use casting here because the base class is a BP and is easier to do it this way,
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// than getting the UClass of the BP to cast the actor.
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if(ClassName.Contains("BP_Procedural_Bulding")) continue;
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if( ClassName.Contains("Procedural_Bulding") ) continue;
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// The vehicle's BP has a low-polystatic mesh for collisions, we should avoid it
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ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
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@ -441,16 +455,6 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBoundingBoxOfActors(
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continue;
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}
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// Calculate FBoundingBox of SM
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TArray<UStaticMeshComponent*> StaticMeshComps;
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Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
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GetBBsOfStaticMeshComponents(StaticMeshComps, Result, InTagQueried);
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// Calculate FBoundingBox of SK_M
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TArray<USkeletalMeshComponent*> SkeletalMeshComps;
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Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
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GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, InTagQueried);
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// Calculate FBoundingBox of ISM
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TArray<UInstancedStaticMeshComponent *> ISMComps;
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Actor->GetComponents<UInstancedStaticMeshComponent>(ISMComps);
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@ -463,6 +467,16 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBoundingBoxOfActors(
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GetISMBoundingBox(Comp, Result);
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}
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// Calculate FBoundingBox of SM
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TArray<UStaticMeshComponent*> StaticMeshComps;
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Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
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GetBBsOfStaticMeshComponents(StaticMeshComps, Result, InTagQueried);
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// Calculate FBoundingBox of SK_M
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TArray<USkeletalMeshComponent*> SkeletalMeshComps;
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Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
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GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, InTagQueried);
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}
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return Result;
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@ -182,7 +182,16 @@ private:
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uint8 DepthPriority = SDPG_World;
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// Debug lines are way more dark in the package, that's why this
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// multiplier is needed.
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#if UE_BUILD_SHIPPING
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static constexpr double BrightMultiplier = 1000.0;
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#else
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// @TODO: Use UKismetSystemLibrary::IsStandalone to support colors
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// in Editor's standalone mode.
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static constexpr double BrightMultiplier = 1.0;
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#endif
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};
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void FDebugShapeDrawer::Draw(const carla::rpc::DebugShape &Shape)
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