fix lidar (#531)

pgdrive/assets/models/barrier/scene.gltf

@@ -0,0 +1,200 @@
+{
+    "asset" : {
+        "generator" : "Khronos glTF Blender I/O v1.6.16",
+        "version" : "2.0"
+    },
+    "scene" : 0,
+    "scenes" : [
+        {
+            "name" : "Scene",
+            "nodes" : [
+                4
+            ]
+        }
+    ],
+    "nodes" : [
+        {
+            "mesh" : 0,
+            "name" : "defaultMaterial"
+        },
+        {
+            "children" : [
+                0
+            ],
+            "name" : "pCube6"
+        },
+        {
+            "children" : [
+                1
+            ],
+            "name" : "Collada visual scene group",
+            "rotation" : [
+                0.7071068286895752,
+                0,
+                0,
+                0.7071068286895752
+            ]
+        },
+        {
+            "children" : [
+                2
+            ],
+            "name" : "RootNode (model correction matrix)"
+        },
+        {
+            "children" : [
+                3
+            ],
+            "name" : "RootNode (gltf orientation matrix)",
+            "rotation" : [
+                -0.7071068286895752,
+                0,
+                0,
+                0.7071068286895752
+            ],
+            "scale" : [
+                1.099050760269165,
+                1.099050760269165,
+                1.099050760269165
+            ]
+        }
+    ],
+    "materials" : [
+        {
+            "alphaMode" : "BLEND",
+            "doubleSided" : true,
+            "name" : "lambert1.001",
+            "normalTexture" : {
+                "index" : 0
+            },
+            "occlusionTexture" : {
+                "index" : 1
+            },
+            "pbrMetallicRoughness" : {
+                "baseColorTexture" : {
+                    "index" : 2
+                },
+                "metallicRoughnessTexture" : {
+                    "index" : 1
+                }
+            }
+        }
+    ],
+    "meshes" : [
+        {
+            "name" : "defaultMaterial.001",
+            "primitives" : [
+                {
+                    "attributes" : {
+                        "POSITION" : 0,
+                        "NORMAL" : 1,
+                        "TEXCOORD_0" : 2
+                    },
+                    "indices" : 3,
+                    "material" : 0
+                }
+            ]
+        }
+    ],
+    "textures" : [
+        {
+            "sampler" : 0,
+            "source" : 0
+        },
+        {
+            "sampler" : 0,
+            "source" : 1
+        },
+        {
+            "sampler" : 0,
+            "source" : 2
+        }
+    ],
+    "images" : [
+        {
+            "mimeType" : "image/png",
+            "name" : "lambert1_normal",
+            "uri" : "lambert1_normal.png"
+        },
+        {
+            "mimeType" : "image/png",
+            "name" : "lambert1_metallicRoughness",
+            "uri" : "lambert1_metallicRoughness.png"
+        },
+        {
+            "mimeType" : "image/png",
+            "name" : "lambert1_baseColor",
+            "uri" : "lambert1_baseColor.png"
+        }
+    ],
+    "accessors" : [
+        {
+            "bufferView" : 0,
+            "componentType" : 5126,
+            "count" : 1113,
+            "max" : [
+                0.9164959788322449,
+                1,
+                0.4118080139160156
+            ],
+            "min" : [
+                -0.9164959788322449,
+                -1,
+                -0.4118080139160156
+            ],
+            "type" : "VEC3"
+        },
+        {
+            "bufferView" : 1,
+            "componentType" : 5126,
+            "count" : 1113,
+            "type" : "VEC3"
+        },
+        {
+            "bufferView" : 2,
+            "componentType" : 5126,
+            "count" : 1113,
+            "type" : "VEC2"
+        },
+        {
+            "bufferView" : 3,
+            "componentType" : 5123,
+            "count" : 2172,
+            "type" : "SCALAR"
+        }
+    ],
+    "bufferViews" : [
+        {
+            "buffer" : 0,
+            "byteLength" : 13356,
+            "byteOffset" : 0
+        },
+        {
+            "buffer" : 0,
+            "byteLength" : 13356,
+            "byteOffset" : 13356
+        },
+        {
+            "buffer" : 0,
+            "byteLength" : 8904,
+            "byteOffset" : 26712
+        },
+        {
+            "buffer" : 0,
+            "byteLength" : 4344,
+            "byteOffset" : 35616
+        }
+    ],
+    "samplers" : [
+        {
+            "magFilter" : 9729,
+            "minFilter" : 9987
+        }
+    ],
+    "buffers" : [
+        {
+            "byteLength" : 39960,
+            "uri" : "scene.bin"
+        }
+    ]
+}

pgdrive/component/static_object/traffic_object.py

@@ -1,12 +1,10 @@
 from typing import Tuple
-from pgdrive.constants import CollisionGroup
-
-import numpy as np
+from panda3d.bullet import BulletBoxShape
 from panda3d.bullet import BulletCylinderShape
-from panda3d.core import NodePath
 
 from pgdrive.component.static_object.base_static_object import BaseStaticObject
 from pgdrive.constants import BodyName
+from pgdrive.constants import CollisionGroup
 from pgdrive.engine.asset_loader import AssetLoader
 from pgdrive.engine.physics_node import BaseRigidBodyNode
 from pgdrive.utils.coordinates_shift import panda_position, panda_heading
@@ -18,10 +16,7 @@ class TrafficObject(BaseStaticObject):
     """
     Common interface for objects that appear on the road, beside vehicles.
     """
-    NAME = None
-    RADIUS = 0.25
-    HEIGHT = 1.2
-    MASS = 1
+    NAME = BodyName.Traffic_object
     COLLISION_GROUP = CollisionGroup.TrafficObject
 
     COST_ONCE = True  # cost will give at the first time
@@ -42,7 +37,9 @@ def __init__(self, lane, longitude: float, lateral: float, random_seed):
 class TrafficCone(TrafficObject):
     """Placed near the construction section to indicate that traffic is prohibited"""
 
-    NAME = BodyName.Traffic_cone
+    RADIUS = 0.25
+    HEIGHT = 1.2
+    MASS = 1
 
     def __init__(self, lane, longitude: float, lateral: float, static: bool = False, random_seed=None):
         super(TrafficCone, self).__init__(lane, longitude, lateral, random_seed)
@@ -59,14 +56,15 @@ def __init__(self, lane, longitude: float, lateral: float, static: bool = False,
         self.set_static(static)
 
 
-class TrafficTriangle(TrafficObject):
+class TrafficWarning(TrafficObject):
     """Placed behind the vehicle when it breaks down"""
 
-    NAME = BodyName.Traffic_triangle
+    HEIGHT = 1.2
+    MASS = 1
     RADIUS = 0.5
 
     def __init__(self, lane, longitude: float, lateral: float, static: bool = False, random_seed=None):
-        super(TrafficTriangle, self).__init__(lane, longitude, lateral, random_seed)
+        super(TrafficWarning, self).__init__(lane, longitude, lateral, random_seed)
         self.add_body(BaseRigidBodyNode(self.name, self.NAME))
         self.body.addShape(BulletCylinderShape(self.RADIUS, self.HEIGHT))
         self.body.setIntoCollideMask(self.COLLISION_GROUP)
@@ -79,3 +77,25 @@ def __init__(self, lane, longitude: float, lateral: float, static: bool = False,
             model.setPos(0, 0, -self.HEIGHT / 2)
             model.reparentTo(self.origin)
         self.set_static(static)
+
+
+class TrafficBarrier(TrafficObject):
+    """A barrier"""
+
+    HEIGHT = 2.0
+    MASS = 10
+    LENGTH = 2.0
+    WIDTH = 0.3
+
+    def __init__(self, lane, longitude: float, lateral: float, static: bool = False, random_seed=None):
+        super(TrafficBarrier, self).__init__(lane, longitude, lateral, random_seed)
+        self.add_body(BaseRigidBodyNode(self.name, self.NAME))
+        self.body.addShape(BulletBoxShape((self.WIDTH / 2, self.LENGTH / 2, self.HEIGHT / 2)))
+        self.body.setIntoCollideMask(self.COLLISION_GROUP)
+        self.origin.setPos(panda_position(self.position, self.HEIGHT / 2))
+        self.origin.setH(panda_heading(self.heading))
+        if self.render:
+            model = self.loader.loadModel(AssetLoader.file_path("models", "barrier", "scene.gltf"))
+            model.setH(-90)
+            model.reparentTo(self.origin)
+        self.set_static(static)

pgdrive/component/vehicle_module/lidar.py

@@ -23,7 +23,7 @@ class Lidar(DistanceDetector):
     def __init__(self, num_lasers: int = 240, distance: float = 50, enable_show=False):
         super(Lidar, self).__init__(num_lasers, distance, enable_show)
         self.origin.hide(CamMask.RgbCam | CamMask.Shadow | CamMask.Shadow | CamMask.DepthCam)
-        self.mask = CollisionGroup.Vehicle | CollisionGroup.InvisibleWall
+        self.mask = CollisionGroup.Vehicle | CollisionGroup.InvisibleWall | CollisionGroup.TrafficObject
 
         # lidar can calculate the detector mask by itself
         self.angle_delta = 360 / num_lasers if num_lasers > 0 else None

pgdrive/constants.py

@@ -59,8 +59,7 @@ class BodyName:
     InvisibleWall = "InvisibleWall"
     Vehicle = "Vehicle"
     Lane = "Lane"
-    Traffic_cone = "Traffic Cone"
-    Traffic_triangle = "Traffic Triangle"
+    Traffic_object = "Traffic Object"
     TollGate = "Toll Gate"
 
 
@@ -70,8 +69,7 @@ class BodyName:
     BodyName.Yellow_continuous_line: "red",
     BodyName.Broken_line: "yellow",
     BodyName.Vehicle: "red",
-    BodyName.Traffic_cone: "orange",
-    BodyName.Traffic_triangle: "orange",
+    BodyName.Traffic_object: "orange",
     BodyName.InvisibleWall: "red",
     BodyName.TollGate: "red",
 }

pgdrive/engine/core/collision_callback.py

@@ -25,7 +25,7 @@ def collision_callback(contact):
             if another_node_name == BodyName.Vehicle:
                 obj_1.crash_vehicle = True
             # crash objects
-            elif another_node_name in [BodyName.Traffic_cone, BodyName.Traffic_triangle]:
+            elif another_node_name == BodyName.Traffic_object:
                 if not obj_2.crashed:
                     obj_1.crash_object = True
                     if obj_2.COST_ONCE: