使用"sensor.other.obstacle"函数在carla中创建一个触发器,使得一辆NPC在A点和B点之间循环运动:车辆从A点出发沿直线行驶到B点,到达B点以后车辆消失,重新在A点生成该车辆再次循环往复进行上述过程
时间: 2024-03-24 18:40:24 浏览: 147
可以使用如下代码实现:
```python
import carla
# 定义汽车循环运动的起点和终点
start_point = carla.Location(x=100, y=0, z=0)
end_point = carla.Location(x=200, y=0, z=0)
# 定义创建触发器的函数
def create_trigger(world, start_point, end_point, npc_actor):
# 创建触发器形状和位置
box = carla.BoundingBox(carla.Location(x=(start_point.x + end_point.x) / 2, y=(start_point.y + end_point.y) / 2, z=start_point.z),
carla.Vector3D(abs(end_point.x - start_point.x), abs(end_point.y - start_point.y), 2))
transform = carla.Transform(carla.Location(x=0, y=0, z=0))
# 创建触发器并且绑定回调函数
blueprint = world.get_blueprint_library().find('sensor.other.obstacle')
blueprint.set_attribute('hit_radius', '0.1')
trigger = world.spawn_actor(blueprint, transform, attach_to=npc_actor)
trigger.listen(lambda event: npc_actor.destroy())
# 绑定触发器形状和位置
trigger.set_box(box)
trigger.set_attribute('is_npc', 'true')
# 初始化carla模拟器
client = carla.Client('localhost', 2000)
client.set_timeout(10.0)
world = client.get_world()
try:
# 获取蓝图
blueprint_library = world.get_blueprint_library()
# 创建NPC车辆
npc_bp = blueprint_library.find('vehicle.npc.standard')
npc_transform = carla.Transform(start_point, carla.Rotation())
npc_actor = world.spawn_actor(npc_bp, npc_transform)
# 创建触发器
create_trigger(world, start_point, end_point, npc_actor)
# 循环运动
while True:
# 计算NPC车辆当前位置到终点的距离
distance = npc_actor.get_location().distance(end_point)
# 如果到达终点,则销毁NPC车辆并重新生成
if distance <= 5:
npc_actor.destroy()
npc_actor = world.spawn_actor(npc_bp, npc_transform)
create_trigger(world, start_point, end_point, npc_actor)
# 否则继续沿直线行驶
else:
npc_actor.set_velocity(carla.Vector3D(x=50, y=0, z=0))
finally:
# 销毁所有角色
for actor in world.get_actors().filter('vehicle.*'):
actor.destroy()
```
该代码首先定义了起点和终点的坐标,然后创建了一个create_trigger()函数用于创建触发器,该触发器的位置和形状会在每次循环中更新,以便于实现NPC车辆的循环运动。接着使用Carla Python API中的相关函数创建了一个NPC车辆,并且在车辆上绑定了触发器。最后,在一个while循环中,程序会不断计算NPC车辆当前位置到终点的距离,如果到达终点,则销毁NPC车辆并重新生成,否则继续沿直线行驶。
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