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+ +![add_vehicle_step_03](img/add_vehicle_step_03.jpg) +
Step 3, set colliders.
+ * __4. Create the Animation Blueprint__. In the new vehicle folder, click right and go to `Create advanced asset/Animation/Animation blueprint`. * __4.1 - *Parent Class*__ — `VehicleAnimInstance`. * __4.2 - *Skeleton*__ — `_Skeleton`. * __4.3 - Rename the blueprint__ — `BP__anim`. * __4.4 - Copy an existing Animation Blueprint__ — Go to `Content/Carla/Static/Vehicle` and choose any vehicle folder. Open its Animation Blueprint and copy the content. * __4.5 - Compile the Animation Blueprint__ — Connect the content in the blueprint and click the button `Compile` on the top left corner. -
+ +![add_vehicle_step_04](img/add_vehicle_step_04.jpg) +
Step 4.5, connect the blueprint.
+ * __5. Create a folder for the vehicle blueprints__. Go to `Content/Carla/Blueprints/Vehicles` and create a new folder ``.
* __6. Create blueprints for the wheels__. Inside the folder, right-click and go to `Created advanced assets/Blueprints class`. Create two blueprints derived from `VehicleWheel`, one named `_FrontWheel` and the other `_RearWheel`. @@ -64,18 +70,27 @@ __4. Export the result__. Select all the meshes and the base of the skeleton a * __6.2 - *Rig Config*__ — `CommonTireConfig`. * __6.3 - On the front wheel__ — Set `Steer Angle`, default is `70`. Uncheck `Affected by Handbrake`. * __6.4 - On the rear wheel__ — Set `Steer Angle` to `0`. Check `Affected by Handbrake`. -
+ +![add_vehicle_step_06](img/add_vehicle_step_06.jpg) +
Step 6.3, front wheel setup.
+ * __7. Create a blueprint for the vehicle__. Inside the folder, create another blueprint derived from `BaseVehiclePawn` and named `BP_`. * __7.1 - *Mesh*__ — Choose the skelletal mesh of the vehicle. * __7.2 - *Anim class*__ — Choose the Animation blueprint created in *step 4*. * __7.3 - *Vehicle bound*__ — Adjust it to include the whole volume of the vehicle. -
+ +![add_vehicle_step_07](img/add_vehicle_step_07.jpg) +
Step 6.3, create the blueprint.
+ * __8. Pair the wheels with their blueprint__. In `Vehicle Movement/Wheel Setups` expand the menu and prepare each wheel. * __8.1 - *Wheel_Front_Left*__ — `_FrontWheel` * __8.2 - *Wheel_Front_Right*__ — `_FrontWheel` * __8.3 - *Wheel_Rear_Left*__ — `_RearWheel` * __8.4 - *Wheel_Rear_Right*__ — `_RearWheel` -
+ +![add_vehicle_step_08](img/add_vehicle_step_08.jpg) +
Step 8, pair the wheels.
+ * __9 - Compile the blueprint__ — Click the button `Compile` on the top left corner.
* __10 - Add the vehicle__. In `Content/Carla/Blueprint/Vehicle`, open the `VehicleFactory` and add a new element to the array of vehicles. @@ -83,7 +98,10 @@ __4. Export the result__. Select all the meshes and the base of the skeleton a * __10.2 - *Model*__ — Choose the name to be used in the blueprint library in CARLA. * __10.3 - *Class*__ — `BP_`. * __10.4 - *Recommended colours*__ — Optionally, provide a set of recommended colours for the vehicle. -
+ +![add_vehicle_step_10](img/add_vehicle_step_10.jpg) +
Step 10, add the new vehicle.
+ * __11. Test the vehicle__. Launch CARLA, open a terminal in `PythonAPI/examples` and run the following command. ```sh python manual_control.py --filter # The name used in step 10.2 diff --git a/Docs/tuto_A_map_customization.md b/Docs/tuto_A_map_customization.md index 5037e7dd6..c4659d361 100644 --- a/Docs/tuto_A_map_customization.md +++ b/Docs/tuto_A_map_customization.md @@ -41,7 +41,8 @@ The blueprint __BP_RepSpline__ adds __individual__ elements along the path defin * __Place Mesheson Points__ — If selected, an element will be added in the ending node of the curve. * __Collision enabled__ — Set the type of collisions enabled for the meshes. -![bp_repspline_pic](img/map_customization/bp_repspline.jpg) +![bp_repspline_pic](img/map_customization/BP_Repspline.jpg) +
BP_RepSpline example.
### BP_Spline @@ -49,7 +50,8 @@ The blueprint __BP_Spline__ adds __connected__ elements __strictly__ following t * __Gap distance__ — Add a separation between elements. -![bp_spline_pic](img/map_customization/bp_spline03.jpg) +![bp_spline_pic](img/map_customization/BP_Spline.jpg) +
BP_Spline example.
### BP_Wall @@ -59,8 +61,8 @@ The blueprint __BP_Wall__ adds __connected__ elements along the path defined by * __Vertically aligned__ — If selected, the elements will be vertically aligned regarding the world axis. * __Scale offset__ — Scale the length of the mesh to round out the connection between elements. -![bp_wall_pic](img/map_customization/bp_wall02.jpg) - +![bp_wall_pic](img/map_customization/BP_Wall.jpg) +
BP_Wall example.
### BP_SplinePowerLine @@ -68,7 +70,8 @@ The blueprint __BP_SplinePowerLine__ adds __electricity poles__ along the path d This blueprint can be found in `Carla/Static/Pole`. This blueprint allows to set an __array of meshes__ to repeat, to provide variety. -![bp_splinepowerline_pic](img/map_customization/bp_splinepowerline.jpg) +![bp_splinepowerline_pic](img/map_customization/BP_Splinepowerline.jpg) +
BP_SplinePowerLine example.
The power line that connects the pole meshes can be customized. @@ -76,7 +79,8 @@ The power line that connects the pole meshes can be customized. * __Edit the tension__ value. If `0`, the power lines will be staight. The bigger the value, the looser the connection. * __Set the sockets__. Sockets are empty meshes that represent the connection points of the power line. A wire is created form socket to socket between poles. The amount of sockets can be changed inside the pole meshes. -![bp_powerline_socket_pic](img/map_customization/bp_splinepowerline_sockets02.jpg) +![bp_powerline_socket_pic](img/map_customization/BP_Splinepowerline_Sockets.jpg) +
Visualization of the sockets for BP_SplinePowerLine.
!!! Important The amount of sockets and their names should be consistent between poles. Otherwise, visualization issues may arise. @@ -103,32 +107,32 @@ For each of them, there is a mesh to fill the center of the floor, and a __Corne The following picture represents the global structure. -![bp_procedural_building_pic](img/map_customization/bp_procedural_building.jpg) - -> *The picture above but only most basic structure with result side to side.* +![bp_procedural_building_visual](img/map_customization/BP_Procedural_Building_Visual.jpg) +
Visualization of the building structure.
The __Base parameters__ set the dimensions of the building. * ___Num Floors__ — Floors of the building. Repetitions of the __Body__ meshes. * __Length X and Length Y__ — Area of the building. Repetitions of the central meshes for each side of the building. -> *Picture as above but with more complex structure. With several floors and repetitions. Cube scheme and final result side to side.* +![bp_procedural_building_full](img/map_customization/BP_Procedural_Building_Full.jpg) +
Example of BP_Procedural_Building.
### Structure modifications There are some additional options to modify the general structure of the building. * __Disable corners__ — If selected, no corner meshes will be used. -* __Use full blocks__ — If selected, n +* __Use full blocks__ — If selected, the structure of the building will use only one mesh per floor. No corners nor repetitions will appear in each floor. * __Doors__ — Meshes that appear in the ground floor, right in front of the central meshes. The amount of dloors and their location can be set. `0` is the initial position, `1` the next base repetition, and so on. * __Walls__ — Meshes that substitute one or more sides of the building. For example, a plane mesh can be used to paint one side of the building. - -> *Picture for the three of them side to side?* +![bp_procedural_building_extras](img/map_customization/BP_Procedural_Building_Extras.jpg) +
On the left, a building with no cornes and one door.
On the right, a building with a wall applied to one side of the building. The wall is a texture with no fire escape.
--- -That is all there is so far, regarding for the PTV-Vissim co-simulation with CARLA. +That is all there is so far, regarding the different map customization tools available in CARLA. Open CARLA and mess around for a while. If there are any doubts, feel free to post these in the forum.