RoutePlanner.h

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "GameFramework/Actor.h"
 
#include "Components/BoxComponent.h"
#include "Components/SplineComponent.h"
 
#include "RoutePlanner.generated.h"
 
class AWheeledVehicleAIController;
 
/// 为每个进入触发体积的 ACarlaWheeledVehicle 分配一条随机路线。
/// 将此参与者放入世界后，必须在编辑器中添加路线。样条线切线将被忽略，仅考虑位置来制定路线。
UCLASS()
class CARLA_API ARoutePlanner : public AActor
{
  GENERATED_BODY()
 
public:
 
  ARoutePlanner(const FObjectInitializer &ObjectInitializer);
 
  virtual void BeginDestroy() override;
 
  void Init();
 
  void SetBoxExtent(const FVector &Extent)
  {
    TriggerVolume->SetBoxExtent(Extent);
  }
 
  void DrawRoutes();
 
  void AddRoute(float probability, const TArray<FVector> &routePoints);
 
  void CleanRoute();
 
  void AssignRandomRoute(AWheeledVehicleAIController &Controller) const;
 
protected:
 
#if WITH_EDITOR
  virtual void PostEditChangeProperty(FPropertyChangedEvent &PropertyChangedEvent) override;
 
#endif // WITH_EDITOR
 
  virtual void BeginPlay() override;
 
  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
 
  UFUNCTION()
  void OnTriggerBeginOverlap(
      UPrimitiveComponent *OverlappedComp,
      AActor *OtherActor,
      UPrimitiveComponent *OtherComp,
      int32 OtherBodyIndex,
      bool bFromSweep,
      const FHitResult &SweepResult);
 
public:
 
  UPROPERTY(EditAnywhere)
  UBoxComponent *TriggerVolume;
 
  UPROPERTY(BlueprintReadWrite, Category = "Traffic Routes", EditAnywhere)
  TArray<USplineComponent *> Routes;
 
  UPROPERTY(BlueprintReadWrite, Category = "Traffic Routes", EditAnywhere, EditFixedSize)
  TArray<float> Probabilities;
 
  UPROPERTY(BlueprintReadWrite, Category = "Traffic Routes", EditAnywhere, EditFixedSize)
  bool bIsIntersection = false;
};