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Improve RTF for 3D Livox Lidar #345

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Improve RTF for 3D Livox Lidar #345

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3861c61
comment traceHandle async
arturocuma Dec 2, 2024
3d8756b
add note
arturocuma Dec 2, 2024
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55 changes: 28 additions & 27 deletions Source/RapyutaSimulationPlugins/Private/Sensors/RR3DLidarComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,33 +14,34 @@ void URR3DLidarComponent::TickComponent(float DeltaTime, enum ELevelTick TickTyp
{
Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
#if TRACE_ASYNC
verify(TraceHandles.Num() == RecordedHits.Num());
UWorld* world = GetWorld();
for (auto i = 0; i < TraceHandles.Num(); ++i)
{
FTraceHandle& traceHandle = TraceHandles[i];
FHitResult& recordedHit = RecordedHits[i];
if (traceHandle._Data.FrameNumber != 0)
{
FTraceDatum Output;
if (world->QueryTraceData(traceHandle, Output))
{
if (Output.OutHits.Num() > 0)
{
traceHandle._Data.FrameNumber = 0;
// We should only be tracing the first hit anyhow
recordedHit = Output.OutHits[0];
}
else
{
traceHandle._Data.FrameNumber = 0;
recordedHit = FHitResult();
recordedHit.TraceStart = Output.Start;
recordedHit.TraceEnd = Output.End;
}
}
}
}
// Note: Let this here in case we found a way to use AsyncLineTraceSingleByChannel without compromising RTF
// verify(TraceHandles.Num() == RecordedHits.Num());
// UWorld* world = GetWorld();
// for (auto i = 0; i < TraceHandles.Num(); ++i)
// {
// FTraceHandle& traceHandle = TraceHandles[i];
// FHitResult& recordedHit = RecordedHits[i];
// if (traceHandle._Data.FrameNumber != 0)
// {
// FTraceDatum Output;
// if (world->QueryTraceData(traceHandle, Output))
// {
// if (Output.OutHits.Num() > 0)
// {
// traceHandle._Data.FrameNumber = 0;
// // We should only be tracing the first hit anyhow
// recordedHit = Output.OutHits[0];
// }
// else
// {
// traceHandle._Data.FrameNumber = 0;
// recordedHit = FHitResult();
// recordedHit.TraceStart = Output.Start;
// recordedHit.TraceEnd = Output.End;
// }
// }
// }
// }
#endif
}

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