3d driving #382
3d driving #382
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Made comments to file
Started writing code to parse elevationProfile and lateralProfile elements.
This reverts commit 72a31f2.
Trying to take 3 dimensional vectors and display them, currently displays visual window, but doesn't show anything
Doesn't quite work yet, but I have differentiated functions such as calc_geometry_for_type() to calculate different things for 2D and 3D
Doesn't work yet, currently facing an error where PolylineRegion and PathRegion are not compatible.
Made sure that all PathRegions created are created through points
Updated the FollowLaneBehavior function to deal with 2d and 3d points
containsRegionInner() now uses the bounding polygon of the mesh surface regions, and checks if self contains reg
I increased the base tolerance as some maps seem to need a slight increase in tolerance in 3D mode to pass assertions with regions
| 'HardRainSunset' | ||
| ) | ||
| param snapToGroundDefault = is2DMode() | ||
| param snapToGroundDefault = True |
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What was this change meant to fix?
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This change was meant to fix the issue of the vehicle clipping into the road when spawning. After testing again to confirm, this change was the primary fix to this issue. Reverting snapToGroundDefault = is2DMode() will cause the vehicle to clip into the road.
Also, changing the height of the vehicle in /driving/model.scenic seems to have no effect on the clipping issue, regardless of if I set snapToGroundDefault to True or False.
| code=basicScenario, | ||
| useCache=False, | ||
| mode2D=use2DMap, | ||
| params={"use2DMap": use2DMap, "tolerance": 0.115}, |
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Let's not manually specify the tolerance here unless we have to: it's better to test with the default tolerance, since that's what people will probably use.
| param intersection = network.intersectionAt(spot) | ||
| """, | ||
| mode2D=use2DMap, | ||
| params={"use2DMap": use2DMap}, |
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Here and in the other tests, you shouldn't need to specify use2DMap since it will be turned on automatically in 2D mode and otherwise turned off.
Co-authored-by: Daniel Fremont <dfremont@ucsc.edu>
Made mode2D=False by default
(WARNING): The CARLA simulator isn't working at the time, so I have not been able to verify this code runs properly.
Description
This PR adds support for 3D mode.
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Checklist
pytestand/or other meansAdditional Notes
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