we can now set physics params of vehicles

LibCarla/source/carla/client/World.cpp

@@ -45,6 +45,10 @@ namespace client {
     return _episode.Lock()->GetVehiclePhysicsControl(actor_id);
   }
 
+  void World::SetVehiclePhysicsControl(const int &actor_id, const rpc::VehiclePhysicsControl &physics_control) {
+    return _episode.Lock()->SetVehiclePhysicsControl(actor_id, physics_control);
+  }
+
   void World::SetWeather(const rpc::WeatherParameters &weather) {
     _episode.Lock()->SetWeatherParameters(weather);
   }

LibCarla/source/carla/client/World.h

@@ -59,6 +59,9 @@ namespace client {
     /// Retrieve the physics control parameters of an actor.
     rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const int &actor_id) const;
 
+    /// Change vehicle physics control of an actors
+    void SetVehiclePhysicsControl(const int &actor_id, const rpc::VehiclePhysicsControl &physics_control);
+
     /// Change the weather in the simulation.
     void SetWeather(const rpc::WeatherParameters &weather);
 

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

@@ -124,6 +124,10 @@ namespace detail {
     return _pimpl->CallAndWait<carla::rpc::VehiclePhysicsControl>("get_physics_control", actorId);
   }
 
+  void Client::SetVehiclePhysicsControl(const int &actorId, const rpc::VehiclePhysicsControl &physicsControl) {
+    return _pimpl->AsyncCall("set_physics_control", actorId, physicsControl);
+  }
+
   rpc::Actor Client::SpawnActor(
       const rpc::ActorDescription &description,
       const geom::Transform &transform) {

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

@@ -80,6 +80,8 @@ namespace detail {
 
     rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const int &actorId) const;
 
+    void SetVehiclePhysicsControl(const int &actorId, const rpc::VehiclePhysicsControl &physicsControl);
+
     rpc::Actor SpawnActor(
         const rpc::ActorDescription &description,
         const geom::Transform &transform);

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

@@ -138,6 +138,10 @@ namespace detail {
     rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const int &actorId) const {
       return _client.GetVehiclePhysicsControl(actorId);
     }
+
+    void SetVehiclePhysicsControl(const int &actorId, const rpc::VehiclePhysicsControl &physicsControl) {
+      _client.SetVehiclePhysicsControl(actorId, physicsControl);
+    }
     /// @}
     // =========================================================================
     /// @name General operations with actors

PythonAPI/source/libcarla/World.cpp

@@ -93,6 +93,7 @@ void export_world() {
     .def("set_weather", &cc::World::SetWeather)
     .def("get_actors", CONST_CALL_WITHOUT_GIL(cc::World, GetActors))
     .def("get_physics_control", &cc::World::GetVehiclePhysicsControl, (arg("actor_id")))
+    .def("set_physics_control", &cc::World::SetVehiclePhysicsControl, (arg("actor_id"), arg("physics_control")))
     .def("spawn_actor", SPAWN_ACTOR_WITHOUT_GIL(SpawnActor))
     .def("try_spawn_actor", SPAWN_ACTOR_WITHOUT_GIL(TrySpawnActor))
     .def("wait_for_tick", &WaitForTick, (arg("seconds")=10.0))

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -388,6 +388,27 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return cr::VehiclePhysicsControl(Vehicle->GetVehiclePhysicsControl());
   });
 
+  Server.BindSync("set_physics_control", [this](
+        int ActorId, cr::VehiclePhysicsControl PhysicsControl) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    
+    auto ActorView = Episode->FindActor(ActorId);
+    if (!ActorView.IsValid())
+    {
+      RESPOND_ERROR("unable to apply control: actor not found");
+    }
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
+    if (Vehicle == nullptr)
+    {
+      RESPOND_ERROR("unable to apply control: actor is not a vehicle");
+    }
+    
+    Vehicle->SetVehiclePhysicsControl(FVehiclePhysicsControl(PhysicsControl));
+
+    return R<void>::Success();
+  });
+
   Server.BindSync("set_actor_simulate_physics", [this](
         cr::Actor Actor,
         bool bEnabled) -> R<void>

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -159,3 +159,32 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
 
   return PhysicsControl;
 }
+
+void ACarlaWheeledVehicle::SetVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl)
+{
+  UCarlaWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UCarlaWheeledVehicleMovementComponent4W>(GetVehicleMovement());
+
+  // Engine Setup
+  Vehicle4W->EngineSetup.TorqueCurve.EditorCurveData = PhysicsControl.TorqueCurve;
+  Vehicle4W->EngineSetup.MaxRPM = PhysicsControl.MaxRPM;
+
+  Vehicle4W->EngineSetup.MOI = PhysicsControl.MOI;
+  
+  Vehicle4W->EngineSetup.DampingRateFullThrottle = PhysicsControl.DampingRateFullThrottle;
+  Vehicle4W->EngineSetup.DampingRateZeroThrottleClutchEngaged = PhysicsControl.DampingRateZeroThrottleClutchEngaged;
+  Vehicle4W->EngineSetup.DampingRateZeroThrottleClutchDisengaged = PhysicsControl.DampingRateZeroThrottleClutchDisengaged;
+
+  Vehicle4W->ApplyEngineSetup(Vehicle4W->EngineSetup);
+
+  // Transmission Setup
+  Vehicle4W->TransmissionSetup.bUseGearAutoBox = PhysicsControl.bUseGearAutoBox;
+  Vehicle4W->TransmissionSetup.GearSwitchTime = PhysicsControl.GearSwitchTime;
+  Vehicle4W->TransmissionSetup.ClutchStrength = PhysicsControl.ClutchStrength;
+
+  Vehicle4W->ApplyTransmissionSetup(Vehicle4W->TransmissionSetup);
+
+  // Vehicle Setup
+  Vehicle4W->Mass = PhysicsControl.Mass;
+  Vehicle4W->DragCoefficient = PhysicsControl.DragCoefficient;
+  Vehicle4W->InertiaTensorScale = PhysicsControl.InertiaTensorScale;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h

@@ -111,7 +111,9 @@ public:
     return State;
   }
 
-FVehiclePhysicsControl GetVehiclePhysicsControl();
+  FVehiclePhysicsControl GetVehiclePhysicsControl();
+
+  void SetVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl);
 
   /// @}
   // ===========================================================================