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Run plotting APIs on game thread
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Fixes random crashes on usage
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@rajat2004
rajat2004 committed Aug 24, 2020
1 parent bd8ee6b commit cc0091b
Showing 1 changed file with 68 additions and 35 deletions.
103 changes: 68 additions & 35 deletions Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -310,80 +310,113 @@ std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::s
//----------- Plotting APIs ----------/
void WorldSimApi::simFlushPersistentMarkers()
{
FlushPersistentDebugLines(simmode_->GetWorld());
UAirBlueprintLib::RunCommandOnGameThread([this]() {
FlushPersistentDebugLines(simmode_->GetWorld());
}, true);
}

void WorldSimApi::simPlotPoints(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float size, float duration, bool is_persistent)
{
FLinearColor color {color_rgba[0], color_rgba[1], color_rgba[2], color_rgba[3]};
for (const auto& point : points)
{
DrawDebugPoint(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(point), size, color.ToFColor(true), is_persistent, duration);
}

UAirBlueprintLib::RunCommandOnGameThread([this, &points, &color, &size, &duration, &is_persistent]() {
for (const auto& point : points) {
DrawDebugPoint(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(point),
size, color.ToFColor(true), is_persistent, duration);
}
}, true);
}

// plot line for points 0-1, 1-2, 2-3
void WorldSimApi::simPlotLineStrip(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent)
{
FLinearColor color {color_rgba[0], color_rgba[1], color_rgba[2], color_rgba[3]};
for (size_t idx = 0; idx != points.size()-1; idx++)
{
DrawDebugLine(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(points[idx]), simmode_->getGlobalNedTransform().fromGlobalNed(points[idx+1]), color.ToFColor(true), is_persistent, duration, 0, thickness);
}

UAirBlueprintLib::RunCommandOnGameThread([this, &points, &color, &thickness, &duration, &is_persistent]() {
for (size_t idx = 0; idx != points.size()-1; idx++) {
DrawDebugLine(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(points[idx]),
simmode_->getGlobalNedTransform().fromGlobalNed(points[idx+1]),
color.ToFColor(true), is_persistent, duration, 0, thickness);
}
}, true);
}

// plot line for points 0-1, 2-3, 4-5... must be even number of points
void WorldSimApi::simPlotLineList(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent)
{
if (points.size() % 2)
{

}

FLinearColor color {color_rgba[0], color_rgba[1], color_rgba[2], color_rgba[3]};
for (int idx = 0; idx < points.size(); idx += 2)
{
DrawDebugLine(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(points[idx]), simmode_->getGlobalNedTransform().fromGlobalNed(points[idx+1]), color.ToFColor(true), is_persistent, duration, 0, thickness);
}

UAirBlueprintLib::RunCommandOnGameThread([this, &points, &color, &thickness, &duration, &is_persistent]() {
for (int idx = 0; idx < points.size(); idx += 2) {
DrawDebugLine(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(points[idx]),
simmode_->getGlobalNedTransform().fromGlobalNed(points[idx+1]),
color.ToFColor(true), is_persistent, duration, 0, thickness);
}
}, true);
}

void WorldSimApi::simPlotArrows(const std::vector<Vector3r>& points_start, const std::vector<Vector3r>& points_end, const std::vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent)
{
// assert points_start.size() == poinst_end.size()
FLinearColor color {color_rgba[0], color_rgba[1], color_rgba[2], color_rgba[3]};
for (int idx = 0; idx < points_start.size(); idx += 1)
{
DrawDebugDirectionalArrow(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(points_start[idx]), simmode_->getGlobalNedTransform().fromGlobalNed(points_end[idx]), arrow_size, color.ToFColor(true), is_persistent, duration, 0, thickness);
}

UAirBlueprintLib::RunCommandOnGameThread([this, &points_start, &points_end, &color, &thickness, &arrow_size, &duration, &is_persistent]() {
for (int idx = 0; idx < points_start.size(); idx += 1) {
DrawDebugDirectionalArrow(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(points_start[idx]),
simmode_->getGlobalNedTransform().fromGlobalNed(points_end[idx]),
arrow_size, color.ToFColor(true), is_persistent, duration, 0, thickness);
}
}, true);
}

void WorldSimApi::simPlotStrings(const std::vector<std::string>& strings, const std::vector<Vector3r>& positions, float scale, const std::vector<float>& color_rgba, float duration)
{
// assert positions.size() == strings.size()
FLinearColor color {color_rgba[0], color_rgba[1], color_rgba[2], color_rgba[3]};
for (int idx = 0; idx < positions.size(); idx += 1)
{
DrawDebugString(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(positions[idx]), FString(strings[idx].c_str()), NULL, color.ToFColor(true), duration, false, scale);
}

UAirBlueprintLib::RunCommandOnGameThread([this, &strings, &positions, &color, &scale, &duration]() {
for (int idx = 0; idx < positions.size(); idx += 1) {
DrawDebugString(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(positions[idx]),
FString(strings[idx].c_str()),
NULL, color.ToFColor(true), duration, false, scale);
}
}, true);
}

void WorldSimApi::simPlotTransforms(const std::vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent)
{
for (const auto& pose : poses)
{
DrawDebugCoordinateSystem(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(pose.position), simmode_->getGlobalNedTransform().fromNed(pose.orientation).Rotator(), scale, is_persistent, duration, 0, thickness);
}
UAirBlueprintLib::RunCommandOnGameThread([this, &poses, &scale, &thickness, &duration, &is_persistent]() {
for (const auto& pose : poses) {
DrawDebugCoordinateSystem(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(pose.position),
simmode_->getGlobalNedTransform().fromNed(pose.orientation).Rotator(),
scale, is_persistent, duration, 0, thickness);
}
}, true);
}

void WorldSimApi::simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration)
{
// assert poses.size() == names.size()
FLinearColor color {text_color_rgba[0], text_color_rgba[1], text_color_rgba[2], text_color_rgba[3]};
for (int idx = 0; idx < poses.size(); idx += 1)
{
DrawDebugCoordinateSystem(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(poses[idx].position), simmode_->getGlobalNedTransform().fromNed(poses[idx].orientation).Rotator(), tf_scale, false, duration, 0, tf_thickness);
DrawDebugString(simmode_->GetWorld(), simmode_->getGlobalNedTransform().fromGlobalNed(poses[idx]).GetLocation(), FString(names[idx].c_str()), NULL, color.ToFColor(true), duration, false, text_scale);
}

UAirBlueprintLib::RunCommandOnGameThread([this, &poses, &names, &color, &tf_scale, &tf_thickness, &text_scale, &duration]() {

for (int idx = 0; idx < poses.size(); idx += 1) {
DrawDebugCoordinateSystem(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(poses[idx].position),
simmode_->getGlobalNedTransform().fromNed(poses[idx].orientation).Rotator(),
tf_scale, false, duration, 0, tf_thickness);
DrawDebugString(simmode_->GetWorld(),
simmode_->getGlobalNedTransform().fromGlobalNed(poses[idx]).GetLocation(),
FString(names[idx].c_str()), NULL, color.ToFColor(true), duration, false, text_scale);
}
}, true);
}

std::vector<WorldSimApi::MeshPositionVertexBuffersResponse> WorldSimApi::getMeshPositionVertexBuffers() const
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