fix physics for ramp

metadrive/component/pgblock/pg_block.py

@@ -22,6 +22,7 @@ class PGBlockSocket:
     Positive_road is right road, and Negative road is left road on which cars drive in reverse direction
     BlockSocket is a part of block used to connect other blocks
     """
+
     def __init__(self, positive_road: Road, negative_road: Road = None):
         self.positive_road = positive_road
         self.negative_road = negative_road if negative_road else None
@@ -74,16 +75,17 @@ class PGBlock(BaseBlock):
     When single-direction block created, road_2 in block socket is useless.
     But it's helpful when a town is created.
     """
+
     def __init__(
-        self,
-        block_index: int,
-        pre_block_socket: PGBlockSocket,
-        global_network: NodeRoadNetwork,
-        random_seed,
-        ignore_intersection_checking=False,
-        remove_negative_lanes=False,
-        side_lane_line_type=None,
-        center_line_type=None,
+            self,
+            block_index: int,
+            pre_block_socket: PGBlockSocket,
+            global_network: NodeRoadNetwork,
+            random_seed,
+            ignore_intersection_checking=False,
+            remove_negative_lanes=False,
+            side_lane_line_type=None,
+            center_line_type=None,
     ):
 
         # Specify the lane line type
@@ -250,7 +252,6 @@ def create_in_world(self):
         for _from, to_dict in graph.items():
             for _to, lanes in to_dict.items():
                 for _id, lane in enumerate(lanes):
-
                     self._construct_lane(lane, (_from, _to, _id))
 
                     # choose_side is a two-elemental list, the first element is for left side,
@@ -278,24 +279,14 @@ def _construct_broken_line(self, lane, lateral, line_color, line_type):
                 )
                 self._node_path_list.extend(node_path_list)
 
-    def _construct_continuous_line(self, lane, lateral, line_color, line_type):
+    def _construct_continuous_line(self, points, line_color, line_type):
         """
         We process straight line to several pieces by default, which can be optimized through overriding this function
         Lateral: left[-1/2 * width] or right[1/2 * width]
         """
-        segment_num = int(lane.length / PGDrivableAreaProperty.LANE_SEGMENT_LENGTH)
-        if segment_num == 0:
-            start = lane.position(0, lateral)
-            end = lane.position(lane.length, lateral)
-            node_path_list = self._construct_lane_line_segment(start, end, line_color, line_type)
-            self._node_path_list.extend(node_path_list)
-        for segment in range(segment_num):
-            start = lane.position(PGDrivableAreaProperty.LANE_SEGMENT_LENGTH * segment, lateral)
-            if segment == segment_num - 1:
-                end = lane.position(lane.length, lateral)
-            else:
-                end = lane.position((segment + 1) * PGDrivableAreaProperty.LANE_SEGMENT_LENGTH, lateral)
-            node_path_list = self._construct_lane_line_segment(start, end, line_color, line_type)
+        for p_1_index, p_1 in enumerate(points[:-1]):
+            p_2 = points[p_1_index + 1]
+            node_path_list = self._construct_lane_line_segment(p_1, p_2, line_color, line_type)
             self._node_path_list.extend(node_path_list)
 
     def _generate_sidewalk_from_line(self, lane, sidewalk_height=None, lateral_direction=1):
@@ -345,16 +336,17 @@ def _construct_lane_line_in_block(self, lane, construct_left_right=(True, True))
         for idx, line_type, line_color, need, in zip([-1, 1], lane.line_types, lane.line_colors, construct_left_right):
             if not need:
                 continue
-            lateral = idx * lane.width_at(0) / 2
+            seg_len = PGDrivableAreaProperty.LANE_SEGMENT_LENGTH
+            lateral = idx * lane.width / 2
             if line_type == PGLineType.CONTINUOUS:
-                self._construct_continuous_line(lane, lateral, line_color, line_type)
+                self._construct_continuous_line(lane.get_polyline(seg_len, lateral=lateral), line_color, line_type)
             elif line_type == PGLineType.BROKEN:
                 self._construct_broken_line(lane, lateral, line_color, line_type)
             elif line_type == PGLineType.SIDE:
-                self._construct_continuous_line(lane, lateral, line_color, line_type)
+                self._construct_continuous_line(lane.get_polyline(seg_len, lateral=lateral), line_color, line_type)
                 self._generate_sidewalk_from_line(lane)
             elif line_type == PGLineType.GUARDRAIL:
-                self._construct_continuous_line(lane, lateral, line_color, line_type)
+                self._construct_continuous_line(lane.get_polyline(seg_len, lateral=lateral), line_color, line_type)
                 self._generate_sidewalk_from_line(
                     lane, sidewalk_height=PGDrivableAreaProperty.GUARDRAIL_HEIGHT, lateral_direction=idx
                 )