SignComponent.h

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// Copyright (c) 2020 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 "CoreMinimal.h"
#include "Components/SceneComponent.h"
#include "Components/BoxComponent.h"
#include "Carla/OpenDrive/OpenDrive.h"
#include <utility>
#include "SignComponent.generated.h"
 
namespace carla
{
namespace road
{
  class Map;
namespace element
{
  class RoadInfoSignal;
}
}
}
 
namespace cr = carla::road;
namespace cre = carla::road::element;
 
/// 表示 OpenDRIVE 标志的类
UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
class CARLA_API USignComponent : public USceneComponent
{
  GENERATED_BODY()
 
public:
  USignComponent();
 
  UFUNCTION(Category = "Traffic Sign", BlueprintPure)
  const FString &GetSignId() const;
 
  UFUNCTION(Category = "Traffic Sign", BlueprintCallable)
  void SetSignId(const FString &Id);
 
  // 初始化标志（例如生成触发框）
  virtual void InitializeSign(const cr::Map &Map);
 
  void AddEffectTriggerVolume(UBoxComponent* TriggerVolume);
 
  const TArray<UBoxComponent*> GetEffectTriggerVolume() const;
 
protected:
  // 游戏开始时调用
  virtual void BeginPlay() override;
 
  // 每帧调用
  virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 
  TArray<std::pair<cr::RoadId, const cre::RoadInfoSignal*>>
      GetAllReferencesToThisSignal(const cr::Map &Map);
 
  const cr::Signal* GetSignal(const cr::Map &Map) const;
 
  /// 在父级参与者中生成触发框组件
  /// BoxSize 应采用虚幻单位
  UBoxComponent* GenerateTriggerBox(const FTransform &BoxTransform,
      float BoxSize);
 
  UBoxComponent* GenerateTriggerBox(const FTransform &BoxTransform,
      const FVector &BoxSize);
 
private:
 
  UPROPERTY(Category = "Traffic Sign", EditAnywhere)
  FString SignId = "";
 
  UPROPERTY()
  TArray<UBoxComponent*> EffectTriggerVolumes;
 
};