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增加了部分注释 #8

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增加了部分注释 #8

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11 changes: 11 additions & 0 deletions Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -545,23 +545,34 @@ void UOpenDriveToMap::GenerateAll(const boost::optional<carla::road::Map>& Param
// 生成道路网格
void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>& ParamCarlaMap, FVector MinLocation, FVector MaxLocation )
{
// 设置用于生成道路网格的参数
opg_parameters.vertex_distance = 0.5f;
opg_parameters.vertex_width_resolution = 8.0f;
// simplification_percentage用于指定后续网格简化的比例
opg_parameters.simplification_percentage = 50.0f;
// 记录生成道路网格操作开始的时间
double start = FPlatformTime::Seconds();

carla::geom::Vector3D CarlaMinLocation(MinLocation.X / 100, MinLocation.Y / 100, MinLocation.Z /100);
carla::geom::Vector3D CarlaMaxLocation(MaxLocation.X / 100, MaxLocation.Y / 100, MaxLocation.Z /100);
// 调用ParamCarlaMap的GenerateOrderedChunkedMeshInLocations函数，传入之前设置的参数和转换后的坐标范围，
// 生成网格数据并存储在Meshes变量中
const auto Meshes = ParamCarlaMap->GenerateOrderedChunkedMeshInLocations(opg_parameters, CarlaMinLocation, CarlaMaxLocation);
// 记录生成道路网格操作结束的时间
double end = FPlatformTime::Seconds();
// 使用UE_LOG输出一条日志信息，记录生成网格代码的执行时间以及当前的网格简化百分比
UE_LOG(LogCarlaToolsMapGenerator, Log, TEXT(" GenerateOrderedChunkedMesh code executed in %f seconds. Simplification percentage is %f"), end - start, opg_parameters.simplification_percentage);

start = FPlatformTime::Seconds();
// 定义一个静态变量index，用于给创建的静态网格演员设置唯一标签
static int index = 0;
for (const auto &PairMap : Meshes)
{
// 遍历每个键值对中的网格数据（Mesh）
for( auto& Mesh : PairMap.second )
{
// 网格数据有效性检查
// 如果网格顶点数量为0，则跳过当前网格的处理
if (!Mesh->GetVertices().size())
{
continue;
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