Fix artifact (#802)

* adjust shader for lane line rendering

* add multi sample

* use 1024 for scenarioEnv

metadrive/constants.py

@@ -405,8 +405,8 @@ class MapTerrainSemanticColor:
     Do not modify this as it is for terrain generation. If you want your own palette, just add a new one or modify
     class lMapSemanticColor
     """
-    YELLOW = 10
-    WHITE = 30
+    YELLOW = 30
+    WHITE = 10
 
     @staticmethod
     def get_color(type):

metadrive/engine/core/engine_core.py

@@ -321,6 +321,7 @@ def __init__(self, global_config):
                 self.world_light.attach_to_world(self.render, self.physics_world)
                 self.render.setLight(self.world_light.direction_np)
                 self.render.setLight(self.world_light.ambient_np)
+                self.render.setAntialias(AntialiasAttrib.MAuto)
 
                 # setup pssm shadow
                 # init shadow if required

metadrive/engine/core/terrain.py

@@ -50,7 +50,7 @@ def __init__(self, show_terrain, engine):
 
         # visualization mesh feature
         self._terrain_size = TerrainProperty.map_region_size  # [m]
-        self._height_scale = engine.global_config["height_scale"]  # [m]
+        self._height_scale = engine.global_config["height_scale"] * self._terrain_size / 2048  # [m]
         self._drivable_area_extension = engine.global_config["drivable_area_extension"]  # [m] road marin
         # it should include the whole map. Otherwise, road will have no texture!
         self._heightmap_size = self._semantic_map_size = TerrainProperty.map_region_size  # [m]

metadrive/envs/scenario_env.py

@@ -37,7 +37,7 @@
     store_data=True,
     need_lane_localization=True,
     no_map=False,
-    map_region_size=2048,
+    map_region_size=1024,
     cull_lanes_outside_map=True,
 
     # ===== Scenario =====

metadrive/shaders/terrain.frag.glsl

@@ -111,18 +111,18 @@ void main() {
   vec3 diffuse = vec3(0.0, 0.0, 0.0);
   vec3 tex_normal_world;
   // float roughnessValue;
-  if (attri.r > 0.01){
-    float value = attri.r * 255; // Assuming it's a red channel texture
-    if (value < 14) {
-        // yellow
-        diffuse=vec3(1.0, 0.78, 0.0);
-    } else if (value < 23) {
-        // road
-        diffuse = texture(road_tex, terrain_uv * road_tex_ratio).rgb;
-    } else if (value < 31) {
+  float value = attri.r * 255; // Assuming it's a red channel texture
+  if (value > 5){
+    if (value < 16) {
         // white
         diffuse = vec3(1.0, 1.0, 1.0);
-    }  else if (value > 39 ||  value < 221) {
+    } else if (value < 26) {
+        // road
+        diffuse = texture(road_tex, terrain_uv * road_tex_ratio).rgb;
+    } else if (value < 34) {
+        // yellow
+        diffuse=vec3(1.0, 0.78, 0.0);
+    }  else if (value > 39 ||  value < 222) {
         // crosswalk
         float theta=(value-40) * 2/180.0*3.1415926535;
         vec2 new_terrain_uv = vec2(cos(theta)*terrain_uv.x - sin(theta)*terrain_uv.y, sin(theta)*terrain_uv.x+cos(theta)*terrain_uv.y);