From e63907de10a92b2c423d3816572f2ee34d1b7b7c Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Mon, 2 Sep 2024 09:46:30 +0200 Subject: [PATCH 1/3] fix(scripts): do not spawn NPC Vehicle when is closer than X to EGO Signed-off-by: Lukasz Chojnacki --- Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs b/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs index 2cd0f4572..51f2ad4dc 100644 --- a/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs +++ b/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(); From 306154ad91518e11d9e44670683896b0f58ebd68 Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Mon, 2 Sep 2024 12:02:28 +0200 Subject: [PATCH 2/3] feat(docs): add information about minimal NPC spawn distance to EGO Signed-off-by: Lukasz Chojnacki --- .../Traffic/TrafficComponents/index.md | 3 +++ .../random_traffic_script.png | Bin 46617 -> 45716 bytes 2 files changed, 3 insertions(+) diff --git a/docs/Components/Traffic/TrafficComponents/index.md b/docs/Components/Traffic/TrafficComponents/index.md index 2b15f3894..c811dda47 100644 --- a/docs/Components/Traffic/TrafficComponents/index.md +++ b/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 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EGO Vehicle in Traffic Manager Signed-off-by: Lukasz Chojnacki --- Assets/AWSIM/Scenes/Main/AutowareSimulation.unity | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity b/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity index 427c6094f..630712f3f 100644 --- a/Assets/AWSIM/Scenes/Main/AutowareSimulation.unity +++ b/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} + 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