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Added fully poly3.

This commit is contained in:
Axel 2020-01-31 18:23:51 +01:00 committed by Marc Garcia Puig
parent 762be63bfd
commit e4da746b31
2 changed files with 45 additions and 12 deletions
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2
CHANGELOG.md
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@ -3,7 +3,7 @@
* Fixed linkage between waypoints in InMemoryMap in Traffic Manager
* Vehicles get destroyed when they are stuck in Traffic Manager
* Implemented intersection anticipation algorithm in Traffic Manager
* Added support for new geometry: spiral
* Added support for new geometry: `spiral`, `poly3`, and `paramPoly3`
* New weather system: night time, fog, rain ripples, and now wind affects vegetation and rain (not car physics)
* Fixed Low/Epic quality settings transition
* Enabled Mesh distance fields

53
LibCarla/source/carla/road/Map.cpp
View File

@ -198,12 +198,29 @@ namespace road {
geom::Vector3D(s1.get<0>(), s1.get<1>(), s1.get<2>()),
geom::Vector3D(s2.get<0>(), s2.get<1>(), s2.get<2>()));
Waypoint result = query_result.front().second.first;
Waypoint result_start = query_result.front().second.first;
Waypoint result_end = query_result.front().second.second;
if (distance_to_segment.first <= 0) {
return result;
if(result_start.lane_id < 0){
double delta_s = distance_to_segment.first;
double final_s = result_start.s + delta_s;
if(final_s >= result_end.s){
return result_end;
}else if (delta_s <= 0) {
return result_start;
} else {
return GetNext(result, distance_to_segment.first).front();
return GetNext(result_start, distance_to_segment.first).front();
}
}else{
double delta_s = distance_to_segment.first;
double final_s = result_start.s - delta_s;
if(final_s <= result_end.s){
return result_end;
}else if (delta_s <= 0) {
return result_start;
} else {
return GetNext(result_start, distance_to_segment.first).front();
}
}
}
@ -738,9 +755,11 @@ namespace road {
}
if (is_straight) {
if (lane.GetId() < 0) {
delta_s = geometry_end_s - current_waypoint.s;
double remaining_length = (geometry_end_s - current_waypoint.s) - epsilon;
delta_s = std::min(delta_s, remaining_length);
} else {
delta_s = current_waypoint.s - geometry_start_s;
double remaining_length = (current_waypoint.s - geometry_start_s) - epsilon;
delta_s = std::min(delta_s, remaining_length);
}
delta_s -= epsilon;
@ -764,6 +783,7 @@ namespace road {
std::make_pair(current_waypoint, next_waypoint)));
current_waypoint = next_waypoint;
current_transform = next_transform;
break;
}
case element::GeometryType::ARC:
@ -772,17 +792,28 @@ namespace road {
case element::GeometryType::POLY3PARAM: {
auto next_waypoint = current_waypoint;
while (true) {
current_transform = ComputeTransform(current_waypoint);
delta_s = min_delta_s;
if (lane.GetId() < 0) {
double remaining_length = (geometry_end_s - current_waypoint.s) - epsilon;
double remaining_length = (geometry_end_s - next_waypoint.s) - epsilon;
delta_s = std::min(delta_s, remaining_length);
} else {
double remaining_length = (current_waypoint.s - geometry_start_s) - epsilon;
double remaining_length = (next_waypoint.s - geometry_start_s) - epsilon;
delta_s = std::min(delta_s, remaining_length);
}
if (delta_s < epsilon) {
geom::Transform next_transform = ComputeTransform(next_waypoint);
Rtree::BPoint init = Rtree::BPoint(current_transform.location.x,
current_transform.location.y, current_transform.location.z);
Rtree::BPoint end = Rtree::BPoint(next_transform.location.x,
next_transform.location.y, next_transform.location.z);
rtree_elements.emplace_back(std::make_pair(Rtree::BSegment(init,
end), std::make_pair(current_waypoint, next_waypoint)));
current_waypoint = next_waypoint;
current_transform = next_transform;
break;
}
@ -800,6 +831,7 @@ namespace road {
end), std::make_pair(current_waypoint, next_waypoint)));
current_waypoint = next_waypoint;
current_transform = next_transform;
break;
}
@ -818,6 +850,7 @@ namespace road {
rtree_elements.emplace_back(std::make_pair(Rtree::BSegment(init,
end), std::make_pair(current_waypoint, next_waypoint)));
current_waypoint = next_waypoint;
current_transform = next_transform;
}
}