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@github-actions github-actions released this 02 May 01:12
· 32 commits to master since this release
16.3.3
8f2c212

Description

This PR implements optimization of calculating actual distance in ActionNode::getDistanceToTargetEntity only for nearest NPCs.
This PR is blocked by #1567 and base merge will be changed after blocking PR is merged.

Abstract

ActionNode::getDistanceToTargetEntity should calculate boundingBoxLaneLongitudinalDistance only for nearest NPC. This is done based on EuclideanDistancesMap containg euclidean distance between mapPose of NPCs.

Details

  1. Euclidean distance between all NPCs is calculated only once for each update in EntityManager.
  2. sharred_ptr of this map is passed to behavior_tree and used ActionNode::getDistanceToTargetEntity.
  3. Nearest NPCs are NPCs in distance of maximum value from NPC spline length and NPC stop distance.

Destructive Changes

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Known Limitations

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References

RJD-1509

Related Issues

Assets 2
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