Merge branch 'main' into fix/remove-pedestrian-duplicates

Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleCognitionStep.cs

@@ -4,6 +4,7 @@
 using Unity.Jobs;
 using UnityEngine;
 using UnityEngine.Profiling;
+using GeometryUtility = AWSIM.Lanelet.GeometryUtility;
 
 namespace AWSIM.TrafficSimulation
 {
@@ -281,6 +282,8 @@ private struct RightOfWayCheckJob
             public static float maximumOverrunStopPointForLaneRules = 1f;
 
             public static float differenceOrientationDegreesImplyingPerpendicularRoad = 35f;
+
+            public static float minimumDistanceBetweenNPCs = 70f;
 
             // In
             public Transform EGOTransform;
@@ -402,6 +405,11 @@ public void Execute()
                 }
             }
 
+            static private bool isCloseEachOther(NPCVehicleInternalState refState, NPCVehicleInternalState otherState)
+            {
+                return GeometryUtility.Distance2D(refState.Vehicle.transform.position, otherState.Vehicle.transform.position) < minimumDistanceBetweenNPCs;
+            }
+
             static private bool isYieldingDueToRules(NPCVehicleInternalState refState)
             {
                 return refState.YieldPhase == NPCVehicleYieldPhase.LEFT_HAND_RULE_ENTERING_INTERSECTION ||
@@ -479,6 +487,9 @@ static private bool isLeftHandRuleEnteringIntersection(NPCVehicleInternalState r
             {
                 foreach (var otherState in states)
                 {
+                    if (!isCloseEachOther(refState, otherState))
+                        continue;
+
                     if (!shouldBeConsideredForYielding(refState, otherState))
                         continue;
 
@@ -505,6 +516,9 @@ static private bool isLeftHandRuleOnIntersection(NPCVehicleInternalState refStat
             {
                 foreach (var otherState in states)
                 {
+                    if (!isCloseEachOther(refState, otherState))
+                        continue;
+
                     if (!shouldBeConsideredForYielding(refState, otherState))
                         continue;
 
@@ -539,6 +553,9 @@ static private bool isIntersectionBusy(NPCVehicleInternalState refState, IReadOn
             {
                 foreach (var otherState in states)
                 {
+                    if (!isCloseEachOther(refState, otherState))
+                        continue;
+
                     if (!shouldBeConsideredForYielding(refState, otherState))
                         continue;
 
@@ -572,6 +589,9 @@ static private bool isSomeVehicleForcingPriority(NPCVehicleInternalState refStat
             {
                 foreach (var otherState in states)
                 {
+                    if (!isCloseEachOther(refState, otherState))
+                        continue;
+
                     if (!shouldBeConsideredForYielding(refState, otherState))
                         continue;
 
@@ -630,6 +650,9 @@ static bool IsLaneDominatedByAny(TrafficLane lane, IReadOnlyList<NPCVehicleInter
                     dominatingVehicle = null;
                     foreach (var otherState in states)
                     {
+                        if (!isCloseEachOther(refState, otherState))
+                            continue;
+
                         if (!shouldBeConsideredForYielding(refState, otherState))
                             continue;
 

docs/DeveloperGuide/TroubleShooting/index.md

@@ -14,6 +14,6 @@ This document describes the most common errors encountered when working with AWS
 |Error when starting AWSIM binary. `segmentation fault (core dumped)`| - Check if yourNvidia drivers or Vulkan API are installed correctly<br> - When building binary please pay attantion whether the `Graphic Jobs` option in `Player Settings` is disabled. It should be disabled since it may produce segmentation fault errors. Please check [forum](https://forum.unity.com/threads/segmentation-fault-core-dumped-in-standalone-app-but-not-in-editor.1226610/) for more details. |
 |Initial pose does not match automatically. |Set initial pose manually. <br>![](Image_Initial_0.png)<br>![](Image_Initial_1.png)|
 |Unity crashes and check the log for the cause of the error.|**Editor log file location**<br>Windows :<br> `C:\Users\username\AppData\Local\Unity\Editor\Editor.log`<br>Linux :<br> `~/.config/unity3d/.Editor.log` <br><br> **Player log file location**<br> Windows : `C:\Users\username\AppData\LocalLow\CompanyName\ProductName\output_log.txt`<br>Linux :<br>`~/.config/unity3d/CompanyName/ProductName/Player.log`<br><br>See also : [Unity Documentation - Log Files](https://docs.unity3d.com/2021.1/Documentation/Manual/LogFiles.html)|
-|Safe mode dialog appears when starting UnityEditor. <br><br> or <br><br> error : `No usable version of libssl was found`|1. download libssl <br> `$ wget http://security.ubuntu.com/ubuntu/pool/main/o/openssl1.0/libssl1.0.0_1.0.2n-1ubuntu5.11_amd64.deb` <br><br> 2. install <br> `sudo dpkg -i libssl1.0.0_1.0.2n-1ubuntu5.11_amd64.deb`|
+|Safe mode dialog appears when starting UnityEditor. <br><br> or <br><br> error : `No usable version of libssl was found`|1. download libssl <br> `$ wget http://security.ubuntu.com/ubuntu/pool/main/o/openssl1.0/libssl1.0.0_1.0.2n-1ubuntu5.13_amd64.deb` <br><br> 2. install <br> `sudo dpkg -i libssl1.0.0_1.0.2n-1ubuntu5.13_amd64.deb`|
 |(Windows) Unity Editor's error:`Plugins: Failed to load 'Assets/RGLUnityPlugin/Plugins/Windows/x86_64/RobotecGPULidar.dll' because one or more of its dependencies could not be loaded.`|Install [Microsoft Visual C++ Redistributable packages for Visual Studio 2015, 2017, 2019, and 2022](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170#visual-studio-2015-2017-2019-and-2022) (X64 Architecture)|
 |(Windows) Built-binary or Unity Editor freeze when simulation started|Update/Install latest NIC(NetworkInterfaceCard) drivers for your PC.<br>Especially, if you can find latest drivers provided by chip vendors for the interfaces (not by Microsoft), we recommend vendors' drivers.|