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Updated ObjectRegister with ISM control

This commit is contained in:
doterop 2020-11-09 23:00:41 +01:00 committed by bernat
parent e83fd71040
commit efdd33cf27
2 changed files with 88 additions and 16 deletions
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99
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ObjectRegister.cpp
View File

@ -9,6 +9,10 @@
#include "Carla/Game/Tagger.h"
// TODO: remove
#include "FileHelper.h"
#include "Paths.h"
namespace crp = carla::rpc;
void UObjectRegister::RegisterObjects(TArray<AActor*> Actors)
@ -18,6 +22,10 @@ void UObjectRegister::RegisterObjects(TArray<AActor*> Actors)
for(AActor* Actor : Actors)
{
const FString ActorName = Actor->GetName();
// Discard Sky to not broke the global ilumination
if(ActorName.Contains("BP_Sky")) continue;
ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
if (Vehicle)
@ -46,6 +54,31 @@ void UObjectRegister::RegisterObjects(TArray<AActor*> Actors)
RegisterSKMComponents(Actor);
}
// Temporal
FString FileContent;
FileContent += FString::Printf(TEXT("Num actors %d\n"), Actors.Num());
FileContent += FString::Printf(TEXT("Num registered objects %d\n\n"), EnvironmentObjects.Num());
for(const FEnvironmentObject& Object : EnvironmentObjects)
{
FileContent += FString::Printf(TEXT("%llu\t"), Object.Id);
FileContent += FString::Printf(TEXT("%s\t"), *Object.Name);
FileContent += FString::Printf(TEXT("%d\n"), static_cast<int32>(Object.Type));
}
FString FilePath = "~/Desktop/RegisteredObjects.txt";
FFileHelper::SaveStringToFile(
FileContent,
*FilePath,
FFileHelper::EEncodingOptions::AutoDetect,
&IFileManager::Get(),
EFileWrite::FILEWRITE_Silent);
UE_LOG(LogCarla, Warning, TEXT("Num actors %d"), Actors.Num());
UE_LOG(LogCarla, Warning, TEXT("Num registered objects %d"), EnvironmentObjects.Num());
UE_LOG(LogCarla, Warning, TEXT("Num comps %d"), ObjectIdToComp.Num());
}
void UObjectRegister::EnableEnvironmentObjects(const TSet<uint64>& EnvObjectIds, bool Enable)
@ -110,7 +143,7 @@ void UObjectRegister::RegisterTrafficLight(ATrafficLightBase* TrafficLight)
for(int i = 0; i < BBs.Num(); i++)
{
const FBoundingBox& BB = BBs
const FBoundingBox& BB = BBs[i];
const uint8 Tag = Tags[i];
crp::CityObjectLabel ObjectLabel = static_cast<crp::CityObjectLabel>(Tag);
@ -130,6 +163,7 @@ void UObjectRegister::RegisterTrafficLight(ATrafficLightBase* TrafficLight)
EnvironmentObjects.Emplace(EnvironmentObject);
// Register components with its ID; it's not the best solution since we are recalculating the BBs
// But this is only calculated when the level is loaded
TArray<UStaticMeshComponent*> StaticMeshComps;
UBoundingBoxCalculator::GetMeshCompsFromActorBoundingBox(TrafficLight, BB, StaticMeshComps);
for(const UStaticMeshComponent* Comp : StaticMeshComps)
@ -147,13 +181,9 @@ void UObjectRegister::RegisterISMComponents(AActor* Actor)
Actor->GetComponents<UInstancedStaticMeshComponent>(ISMComps);
const FString ActorName = Actor->GetName();
int InstanceCount = 0;
bool IsActorTickEnabled = Actor->IsActorTickEnabled();
if(ISMComps.Num() > 0)
{
UE_LOG(LogCarla, Warning, TEXT("ISM ActorName = %s"), *ActorName);
}
for(UInstancedStaticMeshComponent* Comp : ISMComps)
{
const TArray<FInstancedStaticMeshInstanceData>& PerInstanceSMData = Comp->PerInstanceSMData;
@ -174,12 +204,13 @@ void UObjectRegister::RegisterISMComponents(AActor* Actor)
const int32 Y = static_cast<int32>(InstanceLocation.Y);
const int32 Z = static_cast<int32>(InstanceLocation.Z);
const FString InstanceName = FString::Printf(TEXT("%s_Inst_%d"), *ActorName, i);
const FString InstanceId = FString::Printf(TEXT("%s_%d_%d_%d"), *ActorName, X, Y, Z);
const FString InstanceName = FString::Printf(TEXT("%s_Inst_%d_%d"), *ActorName, InstanceCount, i);
const FString InstanceIdStr = FString::Printf(TEXT("%s_%d_%d_%d"), *ActorName, X, Y, Z);
uint64 InstanceId = CityHash64(TCHAR_TO_ANSI(*InstanceIdStr), InstanceIdStr.Len());
FEnvironmentObject EnvironmentObject;
EnvironmentObject.Transform = InstanceTransform;
EnvironmentObject.Id = CityHash64(TCHAR_TO_ANSI(*InstanceId), InstanceId.Len());
EnvironmentObject.Id = InstanceId;
EnvironmentObject.Name = InstanceName;
EnvironmentObject.Actor = Actor;
EnvironmentObject.CanTick = IsActorTickEnabled;
@ -187,6 +218,9 @@ void UObjectRegister::RegisterISMComponents(AActor* Actor)
EnvironmentObject.Type = EnvironmentObjectType::ISMComp;
EnvironmentObject.ObjectLabel = static_cast<crp::CityObjectLabel>(Tag);
EnvironmentObjects.Emplace(EnvironmentObject);
ObjectIdToComp.Emplace(InstanceId, Comp);
InstanceCount++;
}
}
}
@ -221,7 +255,6 @@ void UObjectRegister::RegisterSMComponents(AActor* Actor)
EnvironmentObject.Type = EnvironmentObjectType::SMComp;
EnvironmentObject.ObjectLabel = static_cast<crp::CityObjectLabel>(Tags[i]);
EnvironmentObjects.Emplace(EnvironmentObject);
}
}
@ -268,16 +301,15 @@ void UObjectRegister::EnableEnvironmentObject(
{
case EnvironmentObjectType::Vehicle:
case EnvironmentObjectType::Character:
case EnvironmentObjectType::SMComp:
case EnvironmentObjectType::SKMComp:
EnableActor(EnvironmentObject, Enable);
break;
case EnvironmentObjectType::TrafficLight:
EnableTrafficLight(EnvironmentObject, Enable);
break;
case EnvironmentObjectType::ISMComp:
break;
case EnvironmentObjectType::SMComp:
break;
case EnvironmentObjectType::SKMComp:
EnableISMComp(EnvironmentObject, Enable);
break;
default:
check(false);
@ -300,7 +332,46 @@ void UObjectRegister::EnableActor(FEnvironmentObject& EnvironmentObject, bool En
void UObjectRegister::EnableTrafficLight(FEnvironmentObject& EnvironmentObject, bool Enable)
{
// We need to look for the component(s) that form the EnvironmentObject
// i.e.: The light box is composed by various SMComponents, one per light,
// we need to enable/disable all of them
TArray<const UStaticMeshComponent*> ObjectComps;
ObjectIdToComp.MultiFind(EnvironmentObject.Id, ObjectComps);
for(const UStaticMeshComponent* Comp : ObjectComps)
{
UStaticMeshComponent* SMComp = const_cast<UStaticMeshComponent*>(Comp);
SMComp->SetHiddenInGame(!Enable);
ECollisionEnabled::Type CollisionType = Enable ? ECollisionEnabled::Type::QueryAndPhysics : ECollisionEnabled::Type::NoCollision;
SMComp->SetCollisionEnabled(CollisionType);
}
}
void UObjectRegister::EnableISMComp(FEnvironmentObject& EnvironmentObject, bool Enable)
{
TArray<const UStaticMeshComponent*> ObjectComps;
TArray<FString> InstanceName;
FTransform InstanceTransform = EnvironmentObject.Transform;
ObjectIdToComp.MultiFind(EnvironmentObject.Id, ObjectComps);
EnvironmentObject.Name.ParseIntoArray(InstanceName, TEXT("_"), false);
int Index = FCString::Atoi(*InstanceName[InstanceName.Num() - 1]);
if(!Enable)
{
InstanceTransform.SetScale3D(FVector(0.0f));
}
for(const UStaticMeshComponent* Comp : ObjectComps)
{
UStaticMeshComponent* SMComp = const_cast<UStaticMeshComponent*>(Comp);
UInstancedStaticMeshComponent* ISMComp = Cast<UInstancedStaticMeshComponent>(SMComp);
bool Result = ISMComp->UpdateInstanceTransform(Index, InstanceTransform, false, true);
UE_LOG(LogCarla, Warning, TEXT("EnableISMComp disabling instance %d"), Result);
}
}

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ObjectRegister.h
View File

@ -63,8 +63,9 @@ private:
void EnableTrafficLight(FEnvironmentObject& EnvironmentObject, bool Enable);
UPROPERTY(Category = "Carla Object Register", EditAnywhere)
TMultiMap<uint64, UStaticMeshComponent*> ObjectIdToComp;
void EnableISMComp(FEnvironmentObject& EnvironmentObject, bool Enable);
TMultiMap<uint64, const UStaticMeshComponent*> ObjectIdToComp;
UPROPERTY(Category = "Carla Object Register", EditAnywhere)
TArray<FEnvironmentObject> EnvironmentObjects;