Introduce necessary functions for the new apply-texture functions.

LibCarla/source/carla/client/Actor.cpp

@@ -96,6 +96,20 @@ namespace client {
     GetEpisode().Lock()->SetActorEnableGravity(*this, enabled);
   }
 
+  void Actor::ApplyTexture(
+    const rpc::MaterialParameter& MaterialParameter,
+    const rpc::TextureColor& Texture)
+  {
+    GetEpisode().Lock()->ApplyTextureToActor(*this, MaterialParameter, Texture);
+  }
+
+  void Actor::ApplyTexture(
+    const rpc::MaterialParameter& MaterialParameter,
+    const rpc::TextureFloatColor& Texture)
+  {
+    GetEpisode().Lock()->ApplyTextureToActor(*this, MaterialParameter, Texture);
+  }
+
   rpc::ActorState Actor::GetActorState() const {
     return GetEpisode().Lock()->GetActorState(*this);
   }

LibCarla/source/carla/client/Actor.h

@@ -108,6 +108,14 @@ namespace client {
     /// Enable or disable gravity on this actor.
     void SetEnableGravity(bool enabled = true);
 
+    void ApplyTexture(
+      const rpc::MaterialParameter& MaterialParameter,
+      const rpc::TextureColor& Texture);
+
+    void ApplyTexture(
+      const rpc::MaterialParameter& MaterialParameter,
+      const rpc::TextureFloatColor& Texture);
+
     rpc::ActorState GetActorState() const;
 
     bool IsAlive() const {

LibCarla/source/carla/client/detail/Client.cpp

@@ -164,6 +164,22 @@ namespace detail {
     _pimpl->CallAndWait<void>("copy_opendrive_to_file", std::move(opendrive), params);
   }
 
+  void Client::ApplyTextureToActor(
+    rpc::ActorId ActorId,
+    const rpc::MaterialParameter& MaterialParameter,
+    const rpc::TextureColor& Texture)
+  {
+    _pimpl->CallAndWait<void>("apply_texture_to_actor", ActorId, MaterialParameter, Texture);
+  }
+
+  void Client::ApplyTextureToActor(
+    rpc::ActorId ActorId,
+    const rpc::MaterialParameter& MaterialParameter,
+    const rpc::TextureFloatColor& Texture)
+  {
+    _pimpl->CallAndWait<void>("apply_texture_to_actor_float", ActorId, MaterialParameter, Texture);
+  }
+
   void Client::ApplyColorTextureToObjects(
       const std::vector<std::string> &objects_name,
       const rpc::MaterialParameter& parameter,

LibCarla/source/carla/client/detail/Client.h

@@ -107,6 +107,16 @@ namespace detail {
     void CopyOpenDriveToServer(
         std::string opendrive, const rpc::OpendriveGenerationParameters & params);
 
+    void ApplyTextureToActor(
+      rpc::ActorId ActorId,
+      const rpc::MaterialParameter& MaterialParameter,
+      const rpc::TextureColor& Texture);
+
+    void ApplyTextureToActor(
+      rpc::ActorId ActorId,
+      const rpc::MaterialParameter& MaterialParameter,
+      const rpc::TextureFloatColor& Texture);
+
     void ApplyColorTextureToObjects(
         const std::vector<std::string> &objects_name,
         const rpc::MaterialParameter& parameter,

LibCarla/source/carla/client/detail/Simulator.h

@@ -470,6 +470,22 @@ namespace detail {
       _client.SetActorEnableGravity(actor.GetId(), enabled);
     }
 
+    void ApplyTextureToActor(
+      Actor& actor,
+      const rpc::MaterialParameter& MaterialParameter,
+      const rpc::TextureColor& Texture)
+    {
+      _client.ApplyTextureToActor(actor.GetId(), MaterialParameter, Texture);
+    }
+
+    void ApplyTextureToActor(
+      Actor& actor,
+      const rpc::MaterialParameter& MaterialParameter,
+      const rpc::TextureFloatColor& Texture)
+    {
+      _client.ApplyTextureToActor(actor.GetId(), MaterialParameter, Texture);
+    }
+
     /// @}
     // =========================================================================
     /// @name Operations with vehicles

PythonAPI/carla/src/Actor.cpp

@@ -106,6 +106,7 @@ void export_actor() {
       .def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled") = true))
       .def("set_collisions", &cc::Actor::SetCollisions, (arg("enabled") = true))
       .def("set_enable_gravity", &cc::Actor::SetEnableGravity, (arg("enabled") = true))
+      .def("apply_texture", &cc::Actor::ApplyTexture, (arg("texture")))
       .def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy))
       .def(self_ns::str(self_ns::self))
   ;

PythonAPI/carla/src/World.cpp

@@ -339,6 +339,8 @@ void export_world() {
     .def("project_point", CALL_RETURNING_OPTIONAL_3(cc::World, ProjectPoint, cg::Location, cg::Vector3D, float), (arg("location"), arg("direction"), arg("search_distance")=10000.f))
     .def("ground_projection", CALL_RETURNING_OPTIONAL_2(cc::World, GroundProjection, cg::Location, float), (arg("location"), arg("search_distance")=10000.f))
     .def("get_names_of_all_objects", CALL_RETURNING_LIST(cc::World, GetNamesOfAllObjects))
+    
+    // All of this is deprecated:
     .def("apply_color_texture_to_object", &cc::World::ApplyColorTextureToObject, (arg("object_name"), arg("material_parameter"), arg("texture")))
     .def("apply_float_color_texture_to_object", &cc::World::ApplyFloatColorTextureToObject, (arg("object_name"), arg("material_parameter"), arg("texture")))
     .def("apply_textures_to_object", &cc::World::ApplyTexturesToObject, (arg("object_name"), arg("diffuse_texture"), arg("emissive_texture"), arg("normal_texture"), arg("ao_roughness_metallic_emissive_texture")))
@@ -351,6 +353,7 @@ void export_world() {
     .def("apply_textures_to_objects", +[](cc::World &self, boost::python::list &list, const cr::TextureColor& diffuse_texture, const cr::TextureFloatColor& emissive_texture, const cr::TextureFloatColor& normal_texture, const cr::TextureFloatColor& ao_roughness_metallic_emissive_texture) {
         self.ApplyTexturesToObjects(PyListToVector<std::string>(list), diffuse_texture, emissive_texture, normal_texture, ao_roughness_metallic_emissive_texture);
       }, (arg("objects_name_list"), arg("diffuse_texture"), arg("emissive_texture"), arg("normal_texture"), arg("ao_roughness_metallic_emissive_texture")))
+
     .def(self_ns::str(self_ns::self))
   ;
 

PythonAPI/test/API/test_apply_textures.py

@@ -115,7 +115,7 @@ class TestApplyTextures(unittest.TestCase):
       self.assertIsNotNone(bp)
       world.tick()
       world.apply_color_texture_to_objects(
-        world.get_names_of_all_objects(),
+        world.get_all_actors(),
           carla.MaterialParameter.Diffuse,
           noise_texture_color_red)
       time.sleep(2)

Unreal/CarlaUnreal/CarlaUnreal.uproject

@@ -173,4 +173,4 @@
 		"Mac",
 		"Windows"
 	]
-}
+}

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h

@@ -112,6 +112,7 @@ public:
       UTexture2D* Texture,
       const carla::rpc::MaterialParameter& TextureParam);
 
+  [[deprecated("This command no longer makes sense since the apply_textures API relies on IDs.")]]
   TArray<FString> GetNamesOfAllActors();
   
   FOnEpisodeInitialisedDelegate OnEpisodeInitialisedDelegate;

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -85,6 +85,20 @@ static std::vector<T> MakeVectorFromTArray(const TArray<Other> &Array)
   return {Array.GetData(), Array.GetData() + Array.Num()};
 }
 
+template <typename T>
+static void ApplyTextureToActor(
+  UCarlaEpisode* Episode,
+  carla::rpc::ActorId ActorId,
+  const carla::rpc::MaterialParameter& MaterialParameter,
+  T&& Texture)
+{
+  auto CarlaActor = Episode->FindCarlaActor(ActorId);
+  auto Actor = CarlaActor->GetActor();
+  auto GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+  auto TextureUE = GameMode->CreateUETexture(Texture);
+  GameMode->ApplyTextureToActor(Actor, TextureUE, MaterialParameter);
+}
+
 // =============================================================================
 // -- FCarlaServer::FPimpl -----------------------------------------------
 // =============================================================================
@@ -352,6 +366,26 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(apply_texture_to_actor) << [this](
+    cr::ActorId ActorId,
+    const cr::MaterialParameter& MaterialParameter,
+    const cr::TextureColor& Texture) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ::ApplyTextureToActor(Episode, ActorId, MaterialParameter, Texture);
+    return R<void>::Success();
+  };
+
+  BIND_SYNC(apply_texture_to_actor_float) << [this](
+    cr::ActorId ActorId,
+    const cr::MaterialParameter& MaterialParameter,
+    const cr::TextureFloatColor& Texture) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ::ApplyTextureToActor(Episode, ActorId, MaterialParameter, Texture);
+    return R<void>::Success();
+  };
+
   BIND_SYNC(apply_color_texture_to_objects) << [this](
       const std::vector<std::string> &actors_name,
       const cr::MaterialParameter& parameter,