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Uses switches depending on line type

This commit is contained in:
Blyron 2024-05-30 14:59:57 +02:00 committed by Blyron
parent a2ae705126
commit e6ba65db21
2 changed files with 113 additions and 42 deletions
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145
LibCarla/source/carla/road/MeshFactory.cpp
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@ -206,23 +206,33 @@ namespace geom {
size_t PosToAdd = it - redirections.begin(); size_t PosToAdd = it - redirections.begin();
Mesh out_mesh; Mesh out_mesh;
if(lane_pair.second.GetType() == road::Lane::LaneType::Driving ){ switch(lane_pair.second.GetType())
out_mesh += *GenerateTesselated(lane_pair.second); {
}else{ case road::Lane::LaneType::Driving:
out_mesh += *GenerateSidewalk(lane_pair.second); case road::Lane::LaneType::Parking:
case road::Lane::LaneType::Bidirectional:
{
out_mesh += *GenerateTesselated(lane_pair.second);
break;
}
case road::Lane::LaneType::Shoulder:
case road::Lane::LaneType::Sidewalk:
case road::Lane::LaneType::Biking:
{
out_mesh += *GenerateSidewalk(lane_pair.second);
break;
}
default:
{
out_mesh += *GenerateTesselated(lane_pair.second);
break;
}
} }
if( result[lane_pair.second.GetType()].size() <= PosToAdd ){ if( result[lane_pair.second.GetType()].size() <= PosToAdd ){
result[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(out_mesh)); result[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(out_mesh));
} else { } else {
uint32_t verticesinwidth = 0; uint32_t verticesinwidth = SelectVerticesInWidth(vertices_in_width, lane_pair.second.GetType());
if(lane_pair.second.GetType() == road::Lane::LaneType::Driving) {
verticesinwidth = vertices_in_width;
}else if(lane_pair.second.GetType() == road::Lane::LaneType::Sidewalk){
verticesinwidth = 6;
}else{
verticesinwidth = 2;
}
(result[lane_pair.second.GetType()][PosToAdd])->ConcatMesh(out_mesh, verticesinwidth); (result[lane_pair.second.GetType()][PosToAdd])->ConcatMesh(out_mesh, verticesinwidth);
} }
} }
@ -548,12 +558,28 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
for (auto &&lane_pair : lane_section.GetLanes()) { for (auto &&lane_pair : lane_section.GetLanes()) {
Mesh lane_section_mesh; Mesh lane_section_mesh;
if(lane_pair.second.GetType() == road::Lane::LaneType::Driving ){ switch(lane_pair.second.GetType())
lane_section_mesh += *GenerateTesselated(lane_pair.second, s_current, s_until); {
}else{ case road::Lane::LaneType::Driving:
lane_section_mesh += *GenerateSidewalk(lane_pair.second, s_current, s_until); case road::Lane::LaneType::Parking:
case road::Lane::LaneType::Bidirectional:
{
lane_section_mesh += *GenerateTesselated(lane_pair.second, s_current, s_until);
break;
}
case road::Lane::LaneType::Shoulder:
case road::Lane::LaneType::Sidewalk:
case road::Lane::LaneType::Biking:
{
lane_section_mesh += *GenerateSidewalk(lane_pair.second, s_current, s_until);
break;
}
default:
{
lane_section_mesh += *GenerateTesselated(lane_pair.second, s_current, s_until);
break;
}
} }
auto it = std::find(redirections.begin(), redirections.end(), lane_pair.first); auto it = std::find(redirections.begin(), redirections.end(), lane_pair.first);
if (it == redirections.end()) { if (it == redirections.end()) {
redirections.push_back(lane_pair.first); redirections.push_back(lane_pair.first);
@ -564,14 +590,7 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
if (mesh_uptr_list[lane_pair.second.GetType()].size() <= PosToAdd) { if (mesh_uptr_list[lane_pair.second.GetType()].size() <= PosToAdd) {
mesh_uptr_list[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(lane_section_mesh)); mesh_uptr_list[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(lane_section_mesh));
} else { } else {
uint32_t verticesinwidth = 0; uint32_t verticesinwidth = SelectVerticesInWidth(vertices_in_width, lane_pair.second.GetType());
if(lane_pair.second.GetType() == road::Lane::LaneType::Driving) {
verticesinwidth = vertices_in_width;
}else if(lane_pair.second.GetType() == road::Lane::LaneType::Sidewalk){
verticesinwidth = 6;
}else{
verticesinwidth = 2;
}
(mesh_uptr_list[lane_pair.second.GetType()][PosToAdd])->ConcatMesh(lane_section_mesh, verticesinwidth); (mesh_uptr_list[lane_pair.second.GetType()][PosToAdd])->ConcatMesh(lane_section_mesh, verticesinwidth);
} }
} }
@ -580,10 +599,27 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
if (s_end - s_current > EPSILON) { if (s_end - s_current > EPSILON) {
for (auto &&lane_pair : lane_section.GetLanes()) { for (auto &&lane_pair : lane_section.GetLanes()) {
Mesh lane_section_mesh; Mesh lane_section_mesh;
if(lane_pair.second.GetType() == road::Lane::LaneType::Driving ){ switch(lane_pair.second.GetType())
lane_section_mesh += *GenerateTesselated(lane_pair.second, s_current, s_end); {
}else{ case road::Lane::LaneType::Driving:
lane_section_mesh += *GenerateSidewalk(lane_pair.second, s_current, s_end); case road::Lane::LaneType::Parking:
case road::Lane::LaneType::Bidirectional:
{
lane_section_mesh += *GenerateTesselated(lane_pair.second, s_current, s_end);
break;
}
case road::Lane::LaneType::Shoulder:
case road::Lane::LaneType::Sidewalk:
case road::Lane::LaneType::Biking:
{
lane_section_mesh += *GenerateSidewalk(lane_pair.second, s_current, s_end);
break;
}
default:
{
lane_section_mesh += *GenerateTesselated(lane_pair.second, s_current, s_end);
break;
}
} }
auto it = std::find(redirections.begin(), redirections.end(), lane_pair.first); auto it = std::find(redirections.begin(), redirections.end(), lane_pair.first);
@ -598,13 +634,7 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
mesh_uptr_list[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(lane_section_mesh)); mesh_uptr_list[lane_pair.second.GetType()].push_back(std::make_unique<Mesh>(lane_section_mesh));
} else { } else {
uint32_t verticesinwidth = 0; uint32_t verticesinwidth = 0;
if(lane_pair.second.GetType() == road::Lane::LaneType::Driving) {
verticesinwidth = vertices_in_width;
}else if(lane_pair.second.GetType() == road::Lane::LaneType::Sidewalk){
verticesinwidth = 6;
}else{
verticesinwidth = 2;
}
*(mesh_uptr_list[lane_pair.second.GetType()][PosToAdd]) += lane_section_mesh; *(mesh_uptr_list[lane_pair.second.GetType()][PosToAdd]) += lane_section_mesh;
} }
} }
@ -725,9 +755,20 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
for (auto&& lane_section : road.GetLaneSections()) { for (auto&& lane_section : road.GetLaneSections()) {
for (auto&& lane : lane_section.GetLanes()) { for (auto&& lane : lane_section.GetLanes()) {
if (lane.first != 0) { if (lane.first != 0) {
if(lane.second.GetType() == road::Lane::LaneType::Driving ){ switch(lane.second.GetType())
GenerateLaneMarksForNotCenterLine(lane_section, lane.second, inout, outinfo); {
outinfo.push_back("white"); case road::Lane::LaneType::Driving:
case road::Lane::LaneType::Parking:
case road::Lane::LaneType::Bidirectional:
{
GenerateLaneMarksForNotCenterLine(lane_section, lane.second, inout, outinfo);
outinfo.push_back("white");
break;
}
default:
{
break;
}
} }
} else { } else {
if(lane.second.GetType() == road::Lane::LaneType::None ){ if(lane.second.GetType() == road::Lane::LaneType::None ){
@ -1131,6 +1172,32 @@ std::map<road::Lane::LaneType , std::vector<std::unique_ptr<Mesh>>> MeshFactory:
return std::make_unique<Mesh>(out_mesh); return std::make_unique<Mesh>(out_mesh);
} }
uint32_t MeshFactory::SelectVerticesInWidth(uint32_t default_num_vertices, road::Lane::LaneType type)
{
switch(type)
{
case road::Lane::LaneType::Driving:
case road::Lane::LaneType::Parking:
case road::Lane::LaneType::Bidirectional:
{
return default_num_vertices;
break;
}
case road::Lane::LaneType::Shoulder:
case road::Lane::LaneType::Sidewalk:
case road::Lane::LaneType::Biking:
{
return 6;
break;
}
default:
{
return 2;
break;
}
}
}
std::pair<geom::Vector3D, geom::Vector3D> MeshFactory::ComputeEdgesForLanemark( std::pair<geom::Vector3D, geom::Vector3D> MeshFactory::ComputeEdgesForLanemark(
const road::LaneSection& lane_section, const road::LaneSection& lane_section,
const road::Lane& lane, const road::Lane& lane,

10
LibCarla/source/carla/road/MeshFactory.h
View File

@ -129,9 +129,7 @@ namespace geom {
const road::Lane& lane, const road::Lane& lane,
std::vector<std::unique_ptr<Mesh>>& inout, std::vector<std::unique_ptr<Mesh>>& inout,
std::vector<std::string>& outinfo ) const; std::vector<std::string>& outinfo ) const;
// =========================================================================
// -- Generation parameters ------------------------------------------------
// =========================================================================
/// Parameters for the road generation /// Parameters for the road generation
struct RoadParameters { struct RoadParameters {
@ -148,6 +146,12 @@ namespace geom {
RoadParameters road_param; RoadParameters road_param;
// =========================================================================
// -- Helper functions ------------------------------------------------
// =========================================================================
static uint32_t SelectVerticesInWidth(uint32_t default_num_vertices, road::Lane::LaneType type);
private: private:
// Calculate the points on both sides of the lane mark for the specified s_current // Calculate the points on both sides of the lane mark for the specified s_current