67 lines
1.6 KiB
C
67 lines
1.6 KiB
C
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// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <memory>
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#include <vector>
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#include <carla/geom/Mesh.h>
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#include <carla/road/Road.h>
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#include <carla/road/LaneSection.h>
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#include <carla/road/Lane.h>
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#include <carla/rpc/OpendriveGenerationParameters.h>
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namespace carla {
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namespace geom {
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namespace deformation {
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inline float GetZPosInDeformation(float posx, float posy){
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// Amplitud
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const float A1 = 0.6f;
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const float A2 = 1.1f;
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// Fases
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const float F1 = 1000.0;
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const float F2 = -1500.0;
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// Modifiers
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const float Kx1 = 0.035f;
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const float Kx2 = 0.02f;
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const float Ky1 = -0.08f;
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const float Ky2 = 0.05f;
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return A1 * sin((Kx1 * posx + Ky1 * posy + F1)) +
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A2 * sin((Kx2 * posx + Ky2 * posy + F2));
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}
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inline float GetBumpDeformation(float posx, float posy){
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const float A3 = 0.10f;
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float bumpsoffset = 0;
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float constraintX = 17.0f;
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float constraintY = 12.0f;
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float BumpX = std::ceil(posx / constraintX);
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float BumpY = std::floor(posy / constraintY);
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BumpX *= constraintX;
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BumpY *= constraintY;
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float DistanceToBumpOrigin = sqrt(pow(BumpX - posx, 2) + pow(BumpY - posy, 2) );
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float MaxDistance = 2.0;
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if (DistanceToBumpOrigin <= MaxDistance) {
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bumpsoffset = sin(DistanceToBumpOrigin);
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}
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return A3 * bumpsoffset;
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}
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} // namespace deformation
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} // namespace geom
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} // namespace carla
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