Marcel/package development fix (#8189)

* Add workaround for a development package crash. * Add Definitions.def file generation. Fix incorrect RecastBuilderPath. Enable option checking in CarlaTools.Build.cs.
2024-09-27 11:08:19 +02:00 · 2024-09-27 11:08:19 +02:00 · 078029189b
parent 6ee86983a4
commit 078029189b
8 changed files with 183 additions and 121 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -44,7 +44,7 @@ project (
  LANGUAGES
    C
    CXX
-    ASM # This is required by some dependencies, such as LibPNG.
+    ASM
  DESCRIPTION
    "Open-source simulator for autonomous driving research."
  HOMEPAGE_URL
--- a/Unreal/CMakeLists.txt
+++ b/Unreal/CMakeLists.txt
@ -58,14 +58,6 @@ if (NOT EXISTS ${CARLA_UE_CONTENT_PATH}/.git)
  carla_error ("Missing CARLA content.")
 endif ()

-if (ENABLE_ROS2)
-  set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2)
-endif()
-
-if (ENABLE_ROS2_DEMO)
-  set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2-demo)
-endif()
-
 set (
  UNREAL_EDITOR_PATH
  ${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor${EXE_EXT}
@ -108,19 +100,44 @@ list (



+set (
+  CARLA_UNREAL_INCLUDE_PATHS_FILE_NAME
+  Includes.def
+)
+
+set (
+  CARLA_UNREAL_LIBRARIES_PATHS_FILE_NAME
+  Libraries.def
+)
+
+set (
+  CARLA_UNREAL_DEFINITIONS_FILE_NAME
+  Options.def
+)
+
+set (
+  CARLA_UNREAL_DEFINITIONS_FILE_NAME
+  Definitions.def
+)
+
 set (
  CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH
-  ${CMAKE_CURRENT_BINARY_DIR}/Includes.inc
+  ${CMAKE_CURRENT_BINARY_DIR}/${CARLA_UNREAL_INCLUDE_PATHS_FILE_NAME}
 )

 set (
  CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH
-  ${CMAKE_CURRENT_BINARY_DIR}/Libraries.inc
+  ${CMAKE_CURRENT_BINARY_DIR}/${CARLA_UNREAL_LIBRARIES_PATHS_FILE_NAME}
 )

 set (
-  CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH
-  ${CMAKE_CURRENT_BINARY_DIR}/Options.inc
+  CARLA_UNREAL_OPTIONS_FILE_PATH
+  ${CMAKE_CURRENT_BINARY_DIR}/${CARLA_UNREAL_OPTIONS_FILE_NAME}
+)
+
+set (
+  CARLA_UNREAL_DEFINITIONS_FILE_PATH
+  ${CMAKE_CURRENT_BINARY_DIR}/${CARLA_UNREAL_DEFINITIONS_FILE_NAME}
 )

 set (
@ -152,7 +169,12 @@ foreach (UE_DEP ${UE_DEPENDENCIES})
  endif ()
 endforeach ()

-set (UNREAL_PROJECT_OPTIONS)
+set (
+  CARLA_UNREAL_DEFINITIONS
+  RECASTBUILDER_PATH="$<TARGET_FILE:RecastBuilder>"
+)
+
+set (CARLA_UNREAL_OPTIONS)

 if (ENABLE_ROS2)
  list (
@ -181,14 +203,6 @@ endif()


 if (WIN32)
-  set (
-    CARLA_UE_GENERATE_PROJECT_FILES_COMMAND
-    ${CARLA_UNREAL_ENGINE_PATH}/GenerateProjectFiles.bat
-      -project=${CARLA_UE_PROJECT_PATH}
-      -CMakefile
-      -game
-      -engine
-  )
  set (
    CARLA_UE_BUILD_COMMAND_PREFIX
      ${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/Build.bat
@ -198,14 +212,6 @@ if (WIN32)
      ${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/RunUAT.bat
  )
 else ()
-  set (
-    CARLA_UE_GENERATE_PROJECT_FILES_COMMAND
-    ${CARLA_UNREAL_ENGINE_PATH}/GenerateProjectFiles.sh
-    -project=${CARLA_UE_PROJECT_PATH}
-    -CMakefile
-    -game
-    -engine
-  )
  set (
    CARLA_UE_BUILD_COMMAND_PREFIX
      ${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/${UE_SYSTEM_NAME}/Build.sh
@ -218,41 +224,6 @@ endif ()



-if (CMAKE_TOOLCHAIN_FILE)
-  cmake_path (
-    ABSOLUTE_PATH
-      CMAKE_TOOLCHAIN_FILE
-    BASE_DIRECTORY
-      ${CARLA_WORKSPACE_PATH}
-    NORMALIZE
-    OUTPUT_VARIABLE
-      TOOLCHAIN_FILE
-  )
-  set (
-    TOOLCHAIN_FILE_OPTION
-    --toolchain=${TOOLCHAIN_FILE}
-  )
-else ()
-  set (TOOLCHAIN_FILE_OPTION)
-endif ()
-
-
-
-set (
-  CARLA_UNREAL_CONFIGURE_OUTPUTS
-    ${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH}
-    ${CARLA_UE_CARLA_PATH}/Includes.def
-    ${CARLA_UE_CARLA_TOOLS_PATH}/Includes.def
-    ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH}
-    ${CARLA_UE_CARLA_PATH}/Libraries.def
-    ${CARLA_UE_CARLA_TOOLS_PATH}/Libraries.def
-    ${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH}
-    ${CARLA_UE_CARLA_PATH}/Options.def
-    ${CARLA_UE_CARLA_TOOLS_PATH}/Options.def
-)
-
-
-
 file (
  GENERATE
  OUTPUT
@ -272,20 +243,70 @@ file (
 file (
  GENERATE
  OUTPUT
-    ${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH}
+    ${CARLA_UNREAL_OPTIONS_FILE_PATH}
  CONTENT
    "${CARLA_UNREAL_OPTIONS}"
 )

+file (
+  GENERATE
+  OUTPUT
+    ${CARLA_UNREAL_DEFINITIONS_FILE_PATH}
+  CONTENT
+    "${CARLA_UNREAL_DEFINITIONS}"
+)
+
+
+
+set (
+  CARLA_UNREAL_CONFIGURE_OUTPUTS
+    ${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH}
+    ${CARLA_UE_CARLA_PATH}/${CARLA_UNREAL_INCLUDE_PATHS_FILE_NAME}
+    ${CARLA_UE_CARLA_TOOLS_PATH}/${CARLA_UNREAL_INCLUDE_PATHS_FILE_NAME}
+    ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH}
+    ${CARLA_UE_CARLA_PATH}/${CARLA_UNREAL_LIBRARIES_PATHS_FILE_NAME}
+    ${CARLA_UE_CARLA_TOOLS_PATH}/${CARLA_UNREAL_LIBRARIES_PATHS_FILE_NAME}
+    ${CARLA_UNREAL_OPTIONS_FILE_PATH}
+    ${CARLA_UE_CARLA_PATH}/${CARLA_UNREAL_OPTIONS_FILE_NAME}
+    ${CARLA_UE_CARLA_TOOLS_PATH}/${CARLA_UNREAL_OPTIONS_FILE_NAME}
+    ${CARLA_UNREAL_DEFINITIONS_FILE_PATH}
+    ${CARLA_UE_CARLA_PATH}/${CARLA_UNREAL_DEFINITIONS_FILE_NAME}
+    ${CARLA_UE_CARLA_TOOLS_PATH}/${CARLA_UNREAL_DEFINITIONS_FILE_NAME}
+)
+
+set (CARLA_UNREAL_CONFIGURE_COMMANDS)
+
+set (
+  CARLA_UNREAL_DEF_FILES
+  ${CARLA_UNREAL_INCLUDE_PATHS_FILE_NAME}
+  ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_NAME}
+  ${CARLA_UNREAL_OPTIONS_FILE_NAME}
+  ${CARLA_UNREAL_DEFINITIONS_FILE_NAME}
+)
+
+foreach (DEF_FILE ${CARLA_UNREAL_DEF_FILES})
+  list (
+    APPEND
+    CARLA_UNREAL_CONFIGURE_COMMANDS
+    COMMAND
+      ${CMAKE_COMMAND}
+    ARGS
+      -E create_symlink
+      ${CMAKE_CURRENT_BINARY_DIR}/${DEF_FILE}
+      ${CARLA_UE_CARLA_PATH}/${DEF_FILE}
+    COMMAND
+      ${CMAKE_COMMAND}
+    ARGS
+      -E create_symlink
+      ${CMAKE_CURRENT_BINARY_DIR}/${DEF_FILE}
+      ${CARLA_UE_CARLA_TOOLS_PATH}/${DEF_FILE}
+  )
+endforeach ()
+
 add_custom_command (
  OUTPUT
    ${CARLA_UNREAL_CONFIGURE_OUTPUTS}
-  COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH} ${CARLA_UE_CARLA_PATH}/Includes.def
-  COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH} ${CARLA_UE_CARLA_TOOLS_PATH}/Includes.def
-  COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH} ${CARLA_UE_CARLA_PATH}/Libraries.def
-  COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH} ${CARLA_UE_CARLA_TOOLS_PATH}/Libraries.def
-  COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH} ${CARLA_UE_CARLA_PATH}/Options.def
-  COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH} ${CARLA_UE_CARLA_TOOLS_PATH}/Options.def
+  ${CARLA_UNREAL_CONFIGURE_COMMANDS}
  USES_TERMINAL
  VERBATIM
 )
@ -296,6 +317,12 @@ add_custom_target (
    ${CARLA_UNREAL_CONFIGURE_OUTPUTS}
 )

+list (
+  APPEND
+  UE_DEPENDENCIES_ORDER_ONLY
+  carla-unreal-configure
+)
+


 file (
@ -316,8 +343,6 @@ carla_add_custom_target (
    -project=${CARLA_UE_PROJECT_PATH}
    -game
    -buildscw
-  DEPENDS
-    ${CARLA_UNREAL_CONFIGURE_OUTPUTS}
  USES_TERMINAL
  VERBATIM
 )
@ -397,11 +422,9 @@ function (
      -prereqs
      -build
      -archivedirectory=${CARLA_PACKAGE_PATH}
-    DEPENDS
-      ${CARLA_UNREAL_CONFIGURE_OUTPUTS}
-      USES_TERMINAL
-      VERBATIM
-    )
+    USES_TERMINAL
+    VERBATIM
+  )
  
  add_custom_command (
    TARGET ${TARGET_NAME}
@ -468,6 +491,16 @@ add_carla_ue_package_target(Test Test)



+set (LAUNCH_ARGS ${CARLA_LAUNCH_ARGS})
+
+if (ENABLE_ROS2)
+  list (APPEND LAUNCH_ARGS --ros2)
+endif()
+
+if (ENABLE_ROS2_DEMO)
+  list (APPEND LAUNCH_ARGS --ros2-demo)
+endif()
+
 set (
  CARLA_LAUNCH_TARGET_OPTIONS
  COMMENT
--- a/Unreal/CarlaUnreal/Config/DefaultGame.ini
+++ b/Unreal/CarlaUnreal/Config/DefaultGame.ini
@ -6,17 +6,17 @@ CopyrightNotice="Copyright (c) 2024 Computer Vision Center (CVC) at the Universi
 ProjectVersion=0.10.0

 [/Script/Carla.CarlaSettings]
-+LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapRoad.CheapRoad"',MaterialSlotName="Tileroad_Road",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
-+LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapSideWalkCurb.CheapSideWalkCurb"',MaterialSlotName="TileRoad_Curb",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
-+LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapSideWalk_00.CheapSideWalk_00"',MaterialSlotName="Tileroad_Sidewalk",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
-+LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapLaneMarking.CheapLaneMarking"',MaterialSlotName="TileRoad_LaneMarkingSolid",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapRoad.CheapRoad"',MaterialSlotName="Tileroad_Road",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapSideWalkCurb.CheapSideWalkCurb"',MaterialSlotName="TileRoad_Curb",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapSideWalk_00.CheapSideWalk_00"',MaterialSlotName="Tileroad_Sidewalk",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +LowRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SimpleRoad/CheapLaneMarking.CheapLaneMarking"',MaterialSlotName="TileRoad_LaneMarkingSolid",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/WetPavement/WetPavement_Complex_Road_N2.WetPavement_Complex_Road_N2"',MaterialSlotName="Tileroad_Road",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/WetPavement/WetPavement_Complex_Concrete.WetPavement_Complex_Concrete"',MaterialSlotName="TileRoad_Curb",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SideWalks/SidewalkN4/WetPavement_SidewalkN4.WetPavement_SidewalkN4"',MaterialSlotName="Tileroad_Sidewalk",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
+# +EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/LaneMarking/Lanemarking.Lanemarking"',MaterialSlotName="TileRoad_LaneMarkingSolid",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
 LowLightFadeDistance=1000.000000
 LowStaticMeshMaxDrawDistance=10000.000000
 LowRoadPieceMeshMaxDrawDistance=15000.000000
-+EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/WetPavement/WetPavement_Complex_Road_N2.WetPavement_Complex_Road_N2"',MaterialSlotName="Tileroad_Road",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
-+EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/WetPavement/WetPavement_Complex_Concrete.WetPavement_Complex_Concrete"',MaterialSlotName="TileRoad_Curb",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
-+EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/Ground/SideWalks/SidewalkN4/WetPavement_SidewalkN4.WetPavement_SidewalkN4"',MaterialSlotName="Tileroad_Sidewalk",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))
-+EpicRoadMaterials=(MaterialInterface=MaterialInstanceConstant'"/Game/Carla/Static/GenericMaterials/LaneMarking/Lanemarking.Lanemarking"',MaterialSlotName="TileRoad_LaneMarkingSolid",ImportedMaterialSlotName="",UVChannelData=(bInitialized=False,bOverrideDensities=False,LocalUVDensities[0]=0.000000,LocalUVDensities[1]=0.000000,LocalUVDensities[2]=0.000000,LocalUVDensities[3]=0.000000))

 [/Script/UnrealEd.ProjectPackagingSettings]
 Build=IfProjectHasCode
@ -36,8 +36,9 @@ HttpChunkInstallDataDirectory=(Path="")
 HttpChunkInstallDataVersion=
 IncludePrerequisites=True
 IncludeAppLocalPrerequisites=False
-bShareMaterialShaderCode=False
-bSharedMaterialNativeLibraries=False
+bShareMaterialShaderCode=True
+bSharedMaterialNativeLibraries=True
+bDeterministicShaderCodeOrder=True
 ApplocalPrerequisitesDirectory=(Path="")
 IncludeCrashReporter=False
 InternationalizationPreset=English
--- a/Unreal/CarlaUnreal/Plugins/Carla/.gitignore
+++ b/Unreal/CarlaUnreal/Plugins/Carla/.gitignore
@ -1,3 +1,4 @@
 Includes.def
 Libraries.def
 Options.def
+Definitions.def
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
@ -35,6 +35,11 @@ public class Carla :
  public Carla(ReadOnlyTargetRules Target) :
    base(Target)
  {
+    bool IsWindows = Target.Platform == UnrealTargetPlatform.Win64;
+
+    PrivatePCHHeaderFile = "Carla.h";
+    bEnableExceptions = true;
+    
    void AddDynamicLibrary(string library)
    {
      PublicAdditionalLibraries.Add(library);
@ -42,31 +47,31 @@ public class Carla :
      PublicDelayLoadDLLs.Add(library);
      Console.WriteLine("Dynamic Library Added: " + library);
    }
+    
+    foreach (var Definition in File.ReadAllText(Path.Combine(PluginDirectory, "Definitions.def")).Split(';'))
+      PrivateDefinitions.Add(Definition.Trim());

-    Console.WriteLine("PluginDirectory: " + PluginDirectory);
-    foreach (var option in File.ReadAllText(Path.Combine(PluginDirectory, "Options.def")).Split(';'))
+    foreach (var Option in File.ReadAllText(Path.Combine(PluginDirectory, "Options.def")).Split(';'))
    {
-      string optionTrimmed = option.Trim();
-      if (optionTrimmed.Equals("ROS2"))
+      string Trimmed = Option.Trim();
+      switch (Trimmed)
      {
-        EnableRos2 = true;
-      }
-      else if (optionTrimmed.Equals("ROS2_DEMO"))
-      {
-        EnableRos2 = true;
-        EnableRos2Demo = true;
-      }
-      else if(optionTrimmed.Equals("OSM2ODR"))
-      {
-        EnableOSM2ODR = true;
+        case "ROS2":
+          EnableRos2 = true;
+          break;
+        case "ROS2_DEMO":
+          EnableRos2 = true;
+          EnableRos2Demo = true;
+          break;
+        case "OSM2ODR":
+          EnableOSM2ODR = true;
+          break;
+        default:
+          Console.WriteLine($"Unknown option \"{Trimmed}\".");
+          break;
      }
    }

-    bool IsWindows = Target.Platform == UnrealTargetPlatform.Win64;
-
-    PrivatePCHHeaderFile = "Carla.h";
-    bEnableExceptions = true;
-    
    Action<bool, string, string> TestOptionalFeature = (enable, name, definition) =>
    {
      if (enable)
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
@ -31,24 +31,25 @@
 #include "Misc/FileHelper.h"
 #include "Misc/Paths.h"

+#define TO_STRING_EXPAND(s) #s
+#define TO_STRING(s) TO_STRING_EXPAND(s)
+
+constexpr TCHAR DefaultRecastBuilderPath[] = TEXT(TO_STRING(RECASTBUILDER_PATH));
+
 static FString BuildRecastBuilderFile()
 {
-    // Define filename with extension depending on if we are on Windows or not
+    auto Path = FPaths::RootDir();
 #if PLATFORM_WINDOWS
-    const FString RecastToolName = "RecastBuilder.exe";
+    Path += TEXT("Tools/RecastBuilder.exe");
 #else
-    const FString RecastToolName = "RecastBuilder";
-#endif // PLATFORM_WINDOWS
-
-    // Define path depending on the UE4 build type (Package or Editor)
-#if UE_BUILD_SHIPPING
-    const FString AbsoluteRecastBuilderPath = FPaths::ConvertRelativePathToFull(
-        FPaths::RootDir() + "Tools/" + RecastToolName);
-#else
-    const FString AbsoluteRecastBuilderPath = FPaths::ConvertRelativePathToFull(
-        FPaths::ProjectDir() + "../../Build/_deps/recastnavigation-build/RecastBuilder/" + RecastToolName);
+    Path += TEXT("Tools/RecastBuilder");
 #endif
-    return AbsoluteRecastBuilderPath;
+    Path = FPaths::ConvertRelativePathToFull(Path);
+
+    if (FPaths::FileExists(Path))
+        return Path;
+    else
+        return DefaultRecastBuilderPath;
 }

 static FString UCarlaEpisode_GetTrafficSignId(ETrafficSignState State)
--- a/Unreal/CarlaUnreal/Plugins/CarlaTools/.gitignore
+++ b/Unreal/CarlaUnreal/Plugins/CarlaTools/.gitignore
@ -1,3 +1,4 @@
 Includes.def
 Libraries.def
 Options.def
+Definitions.def
--- a/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
+++ b/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
@ -27,6 +27,26 @@ public class CarlaTools :
    PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
    bEnableExceptions = true;
    
+    foreach (var Definition in File.ReadAllText(Path.Combine(PluginDirectory, "Definitions.def")).Split(';'))
+      PrivateDefinitions.Add(Definition.Trim());
+
+    foreach (var Option in File.ReadAllText(Path.Combine(PluginDirectory, "Options.def")).Split(';'))
+    {
+      string Trimmed = Option.Trim();
+      switch (Trimmed)
+      {
+        case "NV_OMNIVERSE":
+          EnableNVIDIAOmniverse = true;
+          break;
+        case "OSM2ODR":
+          EnableOSM2ODR = true;
+          break;
+        default:
+          Console.WriteLine($"Unknown option \"{Trimmed}\".");
+          break;
+      }
+    }
+
    Action<bool, string, string> TestOptionalFeature = (enable, name, definition) =>
    {
      if (enable)