CARLA: AOpenDriveGenerator::FRoadSurfaceRaster Struct Reference

CARLA

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The authoritative "what is road surface, where, at what height" tool the rest of generation consumes. More...

#include <OpenDriveGenerator.h>

Classes
struct	FCell

Public Member Functions
void	BuildDistanceFields ()
	Two-pass chamfer distance transform filling DistToDrive/DistToPaved and NearestPavedMinZ.

const FCell *	CellAtWorld (float X, float Y) const

void	Initialize (const FBox &Bounds, float InCellSize)

bool	IsValid () const

void	RasterizeTriangle (const FVector &A, const FVector &B, const FVector &C, bool bIsDrive)
	Splats one triangle of road ("drive") or sidewalk surface into the grid: conservative 2D rasterization, per-cell-center barycentric z.

Public Attributes
TArray< FCell >	Cells

float	CellSize = 250.0f

int32	Height = 0

float	OriginX = 0.0f

float	OriginY = 0.0f

int32	Width = 0

Detailed Description

The authoritative "what is road surface, where, at what height" tool the rest of generation consumes.

GenerateRoadMesh rasterizes every road/sidewalk triangle (vertices alone leave unconstrained holes inside lanes – the mesh is dense along s but a full lane wide laterally) into a regular XY grid with barycentric-interpolated surface heights, then a chamfer distance transform gives every cell its distance to the driving footprint and to any pavement, plus the height of the nearest pavement. Terrain generation, furniture placement and the generation QA all query this one structure instead of re-deriving geometry their own (subtly different) ways.

Definition at line 166 of file OpenDriveGenerator.h.

Member Function Documentation

◆ BuildDistanceFields()

void AOpenDriveGenerator::FRoadSurfaceRaster::BuildDistanceFields ( )

Two-pass chamfer distance transform filling DistToDrive/DistToPaved and NearestPavedMinZ.

Call once after all triangles are in.

Definition at line 375 of file OpenDriveGenerator.cpp.

References AOpenDriveGenerator::FRoadSurfaceRaster::FCell::bDrive, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::bPaved, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::DistToDrive, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::DistToPaved, and AOpenDriveGenerator::FRoadSurfaceRaster::FCell::NearestPavedMinZ.

Referenced by AOpenDriveGenerator::GenerateRoadMesh().

◆ CellAtWorld()

const AOpenDriveGenerator::FRoadSurfaceRaster::FCell * AOpenDriveGenerator::FRoadSurfaceRaster::CellAtWorld	(	float	X,
		float	Y
	)		const

Definition at line 483 of file OpenDriveGenerator.cpp.

References IsValid().

Referenced by AOpenDriveGenerator::GenerateFurnitureAnchors(), AOpenDriveGenerator::GenerateGroundPlane(), and AOpenDriveGenerator::RunGenerationQA().

◆ Initialize()

void AOpenDriveGenerator::FRoadSurfaceRaster::Initialize	(	const FBox &	Bounds,
		float	InCellSize
	)

Definition at line 288 of file OpenDriveGenerator.cpp.

References Cells, CellSize, Height, OriginX, OriginY, and Width.

Referenced by AOpenDriveGenerator::GenerateRoadMesh().

◆ IsValid()

bool AOpenDriveGenerator::FRoadSurfaceRaster::IsValid ( ) const

inline

Definition at line 198 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), AOpenDriveGenerator::GenerateMedianFill(), and AOpenDriveGenerator::RunGenerationQA().

◆ RasterizeTriangle()

void AOpenDriveGenerator::FRoadSurfaceRaster::RasterizeTriangle	(	const FVector &	A,
		const FVector &	B,
		const FVector &	C,
		bool	bIsDrive
	)

Splats one triangle of road ("drive") or sidewalk surface into the grid: conservative 2D rasterization, per-cell-center barycentric z.

Definition at line 299 of file OpenDriveGenerator.cpp.

References AOpenDriveGenerator::FRoadSurfaceRaster::FCell::bDrive, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::bDriveCovered, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::bPaved, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::DriveMaxZ, AOpenDriveGenerator::FRoadSurfaceRaster::FCell::DriveMinZ, and AOpenDriveGenerator::FRoadSurfaceRaster::FCell::PavedMinZ.

Referenced by AOpenDriveGenerator::GenerateRoadMesh().

Member Data Documentation

◆ Cells

TArray<FCell> AOpenDriveGenerator::FRoadSurfaceRaster::Cells

Definition at line 196 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), AOpenDriveGenerator::GenerateMedianFill(), Initialize(), and AOpenDriveGenerator::RunGenerationQA().

◆ CellSize

float AOpenDriveGenerator::FRoadSurfaceRaster::CellSize = 250.0f

Definition at line 191 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), AOpenDriveGenerator::GenerateMedianFill(), Initialize(), and AOpenDriveGenerator::RunGenerationQA().

◆ Height

int32 AOpenDriveGenerator::FRoadSurfaceRaster::Height = 0

Definition at line 195 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), AOpenDriveGenerator::GenerateMedianFill(), Initialize(), and AOpenDriveGenerator::RunGenerationQA().

◆ OriginX

float AOpenDriveGenerator::FRoadSurfaceRaster::OriginX = 0.0f

Definition at line 192 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), Initialize(), and AOpenDriveGenerator::RunGenerationQA().

◆ OriginY

float AOpenDriveGenerator::FRoadSurfaceRaster::OriginY = 0.0f

Definition at line 193 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), Initialize(), and AOpenDriveGenerator::RunGenerationQA().

◆ Width

int32 AOpenDriveGenerator::FRoadSurfaceRaster::Width = 0

Definition at line 194 of file OpenDriveGenerator.h.

Referenced by AOpenDriveGenerator::DumpRasterAt(), AOpenDriveGenerator::GenerateGroundPlane(), AOpenDriveGenerator::GenerateMedianFill(), Initialize(), and AOpenDriveGenerator::RunGenerationQA().

The documentation for this struct was generated from the following files: