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First version

This commit is contained in:
bernat 2021-01-22 11:46:38 +01:00
parent e2d0127aae
commit 1220b5a669
2 changed files with 116 additions and 3 deletions
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103
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/CarSimManagerComponent.cpp
View File

@ -6,16 +6,22 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "CarSimManagerComponent.h"
#include "Carla/Game/CarlaEngine.h"
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
#include "Carla/Util/EmptyActor.h"
#ifdef WITH_CARSIM
#include "CarSimMovementComponent.h"
#include "VsVar.h"
#endif
void UCarSimManagerComponent::CreateCarsimComponent(
ACarlaWheeledVehicle* Vehicle, FString Simfile)
ACarlaWheeledVehicle* Vehicle, FString Simfile, int ForceFrames)
{
#ifdef WITH_CARSIM
UCarSimManagerComponent* CarSimManagerComponent = NewObject<UCarSimManagerComponent>(Vehicle);
CarSimManagerComponent->SimfilePath = Simfile;
CarSimManagerComponent->FramesApplyingForce = ForceFrames;
CarSimManagerComponent->RegisterComponent();
Vehicle->SetCarlaMovementComponent(CarSimManagerComponent);
#else
@ -68,6 +74,7 @@ void UCarSimManagerComponent::BeginPlay()
// set callbacks to react to collisions
CarlaVehicle->OnActorHit.AddDynamic(this, &UCarSimManagerComponent::OnCarSimHit);
CarlaVehicle->GetMesh()->OnComponentBeginOverlap.AddDynamic(this, &UCarSimManagerComponent::OnCarSimOverlap);
CarlaVehicle->GetMesh()->OnComponentEndOverlap.AddDynamic(this, &UCarSimManagerComponent::OnCarSimEndOverlap);
CarlaVehicle->GetMesh()->SetCollisionResponseToChannel(ECollisionChannel::ECC_WorldStatic, ECollisionResponse::ECR_Overlap);
// workaround to prevent carsim from interacting with its own car
@ -81,6 +88,35 @@ void UCarSimManagerComponent::BeginPlay()
#endif
}
void UCarSimManagerComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
{
#ifdef WITH_CARSIM
// get current vehicle position
const auto Trans = CarlaVehicle->GetActorTransform().GetTranslation();
// get current velocity
auto Root = Cast<UPrimitiveComponent>(CarlaVehicle->GetRootComponent());
if (Root == nullptr) return;
FVector Vel = Root->GetPhysicsLinearVelocity("None");
FVector Dir = Trans + (Vel.GetSafeNormal() * 200.0f);
DrawDebugLine(GetWorld(), Trans, Dir, FColor(255, 255, 255), true, 1);
if (ResetForces != 0 && ResetForces <= FCarlaEngine::FrameCounter)
{
#undef GetObject
TScriptInterface<IVsVar> FX, FY, FZ;
FX = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FX_RP_1", "", EVsVarDirection::Input);
FY = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FY_RP_1", "", EVsVarDirection::Input);
FZ = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FZ_RP_1", "", EVsVarDirection::Input);
IVsVar::Execute_SetFloatValue(FX.GetObject(), 0.0f);
IVsVar::Execute_SetFloatValue(FY.GetObject(), 0.0f);
IVsVar::Execute_SetFloatValue(FZ.GetObject(), 0.0f);
ResetForces = 0;
UE_LOG(LogCarla, Warning, TEXT("Carsim: Reset forces") );
}
#endif
}
void UCarSimManagerComponent::ProcessControl(FVehicleControl &Control)
{
#ifdef WITH_CARSIM
@ -95,6 +131,11 @@ void UCarSimManagerComponent::ProcessControl(FVehicleControl &Control)
#endif
}
// UCarSimMovementComponent *UCarSimManagerComponent::GetCarsimMovementComponent()
// {
// return CarSimMovementComponent;
// }
void UCarSimManagerComponent::OnCarSimHit(AActor *Actor,
AActor *OtherActor,
FVector NormalImpulse,
@ -118,11 +159,69 @@ void UCarSimManagerComponent::OnCarSimOverlap(UPrimitiveComponent* OverlappedCom
ECollisionResponse::ECR_Block)
{
#ifdef WITH_CARSIM
// handle collision forces here
// get current vehicle position
const auto Trans = CarlaVehicle->GetActorTransform().GetTranslation();
// get current velocity
auto Root = Cast<UPrimitiveComponent>(CarlaVehicle->GetRootComponent());
if (Root == nullptr)
return;
FVector Vel = Root->GetPhysicsLinearVelocity("None");
// reflect the velocity vector with the normal vector
FVector NewVel = Vel - (2 * (FVector::DotProduct(Vel, SweepResult.ImpactNormal)) * SweepResult.ImpactNormal);
// get the mass of the vehicle
FVector Impulse = NewVel * Root->GetMass(); // / FramesApplyingForce;
// apply delta time
Impulse *= GetWorld()->GetDeltaSeconds();
// FVector Dir = Trans + (Impulse.GetSafeNormal() * 200.0f);
FVector Dir = SweepResult.ImpactPoint + (SweepResult.ImpactNormal * 200.0f);
DrawDebugLine(GetWorld(), SweepResult.ImpactPoint, Dir, FColor(255, 0, 0), true, 5, 255, 10);
// send the force to Carsim
#undef GetObject
TScriptInterface<IVsVar> FX, FY, FZ;
FX = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FX_RP_1", "", EVsVarDirection::Input);
FY = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FY_RP_1", "", EVsVarDirection::Input);
FZ = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FZ_RP_1", "", EVsVarDirection::Input);
IVsVar::Execute_SetFloatValue(FX.GetObject(), Impulse.X);
IVsVar::Execute_SetFloatValue(FY.GetObject(), Impulse.Y);
IVsVar::Execute_SetFloatValue(FZ.GetObject(), 0.0f);
// mark to reset this force next tick
ResetForces = FCarlaEngine::FrameCounter + FramesApplyingForce;
UE_LOG(LogCarla, Warning, TEXT("Carsim: Applied force: %f (%f, %f, %f) %f"), Root->GetMass(), Impulse.X, Impulse.Y, Impulse.Z, GetWorld()->GetDeltaSeconds());
UE_LOG(LogCarla, Warning, TEXT("Carsim: : (%f, %f, %f)"), SweepResult.Normal.X, SweepResult.Normal.Y, SweepResult.Normal.Z);
UE_LOG(LogCarla, Warning, TEXT("Carsim: : (%f, %f, %f)"), SweepResult.ImpactNormal.X, SweepResult.ImpactNormal.Y, SweepResult.ImpactNormal.Z);
#endif
}
}
void UCarSimManagerComponent::OnCarSimEndOverlap(UPrimitiveComponent* OverlappedComponent,
AActor* OtherActor,
UPrimitiveComponent* OtherComp,
int32 OtherBodyIndex)
{
// if (OtherComp->GetCollisionResponseToChannel(
// ECollisionChannel::ECC_WorldDynamic) ==
// ECollisionResponse::ECR_Block)
// {
// #ifdef WITH_CARSIM
// // if (ResetForces != 0 && ResetForces <= FCarlaEngine::FrameCounter)
// // {
// #undef GetObject
// TScriptInterface<IVsVar> FX, FY, FZ;
// FX = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FX_RP_1", "", EVsVarDirection::Input);
// FY = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FY_RP_1", "", EVsVarDirection::Input);
// FZ = IVsConnectObject::Execute_GetVsVar(CarSimMovementComponent, "IMP_FZ_RP_1", "", EVsVarDirection::Input);
// IVsVar::Execute_SetFloatValue(FX.GetObject(), 0.0f);
// IVsVar::Execute_SetFloatValue(FY.GetObject(), 0.0f);
// IVsVar::Execute_SetFloatValue(FZ.GetObject(), 0.0f);
// // ResetForces = 0;
// UE_LOG(LogCarla, Warning, TEXT("Carsim: Reset forces") );
// // }
// #endif
// }
}
void UCarSimManagerComponent::UseCarSimRoad(bool bEnabled)
{
#ifdef WITH_CARSIM

16
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/CarSimManagerComponent.h
View File

@ -32,12 +32,14 @@ class CARLA_API UCarSimManagerComponent : public UBaseCarlaMovementComponent
public:
static void CreateCarsimComponent(
ACarlaWheeledVehicle* Vehicle, FString Simfile);
ACarlaWheeledVehicle* Vehicle, FString Simfile, int ForceFrames = 1);
FString SimfilePath = "";
virtual void BeginPlay() override;
virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
void ProcessControl(FVehicleControl &Control) override;
FVector GetVelocity() const override;
@ -50,8 +52,13 @@ public:
float GetVehicleForwardSpeed() const override;
// UCarSimMovementComponent *GetCarsimMovementComponent();
private:
uint64_t ResetForces { 0 };
int FramesApplyingForce { 1 };
// On car mesh hit, only works when carsim is enabled
UFUNCTION()
void OnCarSimHit(AActor *Actor,
@ -69,4 +76,11 @@ private:
bool bFromSweep,
const FHitResult & SweepResult);
// On car mesh overlap end, only works when carsim is enabled
// (this event triggers when overlapping with static environment)
UFUNCTION()
void OnCarSimEndOverlap(UPrimitiveComponent* OverlappedComponent,
AActor* OtherActor,
UPrimitiveComponent* OtherComp,
int32 OtherBodyIndex);
};