Merge pull request #355 from tier4/fix/spawn-distance-to-ego

fix: do not spawn NPC Vehicle when is closer than X to EGO

Assets/AWSIM/Scenes/Main/AutowareSimulation.unity

@@ -276,6 +276,11 @@ MonoBehaviour:
     HistoryPolicy: 1
     Depth: 1
   publishHz: 100
+--- !u!1 &30319277 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 4981081891045692864, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3}
+  m_PrefabInstance: {fileID: 2465439770829660650}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1 &51962876
 GameObject:
   m_ObjectHideFlags: 0
@@ -2364,6 +2369,10 @@ PrefabInstance:
       propertyPath: duration
       value: 25
       objectReference: {fileID: 0}
+    - target: {fileID: 445656315769820269, guid: 58d73df60b244d146bdf5f5896f78355, type: 3}
+      propertyPath: _egoVehicle
+      value: 
+      objectReference: {fileID: 30319277}
     - target: {fileID: 445656315769820269, guid: 58d73df60b244d146bdf5f5896f78355, type: 3}
       propertyPath: maxVehicleCount
       value: 10
@@ -4454,7 +4463,7 @@ MonoBehaviour:
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   m_PrefabInstance: {fileID: 2465439770829660650}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 0}
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@@ -8215,8 +8224,8 @@ MonoBehaviour:
   m_TargetGraphic: {fileID: 1925267639}
   m_HandleRect: {fileID: 1925267638}
   m_Direction: 2
-  m_Value: 0
-  m_Size: 1
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Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs

@@ -1,6 +1,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
+using GeometryUtility = AWSIM.Lanelet.GeometryUtility;
 
 namespace AWSIM.TrafficSimulation
 {
@@ -24,6 +25,9 @@ public class TrafficManager : MonoBehaviour
         [SerializeField, Tooltip("A maximum number of vehicles that can simultaneously live in the scene. Lowering this value results in less dense traffic but improves the simulator's performance.")]
         public int maxVehicleCount = 40;
 
+        [SerializeField, Tooltip("A minimal distance between the EGO and the NPC to spawn")]
+        private float spawnDistanceToEgo = 50.0f;
+
         [SerializeField, Tooltip("Ego vehicle handler. If not set, the manager creates a dummy ego. This reference is also set automatically when the Ego spawns via the traffic simulator.")]
         private GameObject _egoVehicle;
 
@@ -226,6 +230,12 @@ private void FixedUpdate()
             {
                 NPCVehicle spawnedVehicle;
 
+                var distance2D = GeometryUtility.Distance2D(_egoVehicle.transform.position, spawnLoc.Key.Position);
+                if (distance2D < spawnDistanceToEgo)
+                {
+                    continue;
+                }
+
                 if (spawnLoc.Value.Count == 1)
                 {
                     var tsimAndPrefab = spawnLoc.Value.First();

docs/Components/Traffic/TrafficComponents/index.md

@@ -121,6 +121,8 @@ The `Vehicle Layer Mask` and `Ground Layer Mask` are used to make sure all vehic
 `Max Vehicle Count` specifies how many `NPCVehicles` can be present on the scene at once.
 When the number of `NPCVehicles` on the scene is equal to this value the [`RandomTrafficSimulator`](#randomtrafficsimulator) stops spawning new vehicles until some existing vehicles drive away and disappear.
 
+`Spawn Distance to EGO` defines the minimal distance between the EGO and the NPC to spawn
+
 The `EgoVehicle` field provides the information about Ego vehicle used for correct behavior of`NPCVehicles`when interacting with Ego.
 
 `Show Gizmos` checkbox specifies whether the [Gizmos](#gizmos) visualization should be displayed when running the simulation.
@@ -173,6 +175,7 @@ Set to `0` to disable this restriction.
 | ----------------------- | ----------------------------------------------------------------------------------------------------------- |
 | **General Settings**    |                                                                                                             |
 | Seed                    | Seed value for random generator                                                                             |
+| Spawn Distance to EGO   | Minimal distance between the EGO and the NPC to spawn                                                       |
 | Ego Vehicle             | Transform of ego vehicle                                                                                    |
 | Vehicle Layer Mask      | LayerMask that masks only vehicle(NPC and ego) colliders                                                    |
 | Ground Layer Mask       | LayerMask that masks only ground colliders of the map                                                       |