Added world pos for wheels + working on using physx to fix a bug

LibCarla/source/carla/rpc/WheelPhysicsControl.h

@@ -21,18 +21,21 @@ namespace rpc {
         float in_damping_rate,
         float in_max_steer_angle,
         bool in_is_steerable,
-        float in_radius)
+        float in_radius,
+        geom::Vector3D in_position)
       : tire_friction(in_tire_friction),
         damping_rate(in_damping_rate),
         max_steer_angle(in_max_steer_angle),
         is_steerable(in_is_steerable),
-        radius(in_radius) {}
+        radius(in_radius),
+        position(in_position) {}
 
     float tire_friction = 2.0f;
     float damping_rate = 0.25f;
     float max_steer_angle = 70.0f;
     bool is_steerable = true;
     float radius = 30.0f;
+    geom::Vector3D position = {0.0f, 0.0f, 0.0f};
 
     bool operator!=(const WheelPhysicsControl &rhs) const {
       return
@@ -40,7 +43,8 @@ namespace rpc {
         damping_rate != rhs.damping_rate ||
         max_steer_angle != rhs.max_steer_angle ||
         is_steerable != rhs.is_steerable ||
-        radius != rhs.radius;
+        radius != rhs.radius ||
+        position != rhs.position;
     }
 
     bool operator==(const WheelPhysicsControl &rhs) const {
@@ -53,7 +57,8 @@ namespace rpc {
         damping_rate(Wheel.DampingRate),
         max_steer_angle(Wheel.MaxSteerAngle),
         is_steerable(Wheel.IsSteerable),
-        radius(Wheel.Radius) {}
+        radius(Wheel.Radius),
+        position(Wheel.Position.X, Wheel.Position.Y, Wheel.Position.Z) {}
 
     operator FWheelPhysicsControl() const {
       FWheelPhysicsControl Wheel;
@@ -62,6 +67,7 @@ namespace rpc {
       Wheel.MaxSteerAngle = max_steer_angle;
       Wheel.IsSteerable = is_steerable;
       Wheel.Radius = radius;
+      Wheel.Position = {position.x, position.y, position.z};
       return Wheel;
     }
 #endif
@@ -70,7 +76,8 @@ namespace rpc {
         damping_rate,
         max_steer_angle,
         is_steerable,
-        radius)
+        radius,
+        position)
   };
 
 }

PythonAPI/carla/source/libcarla/Control.cpp

@@ -207,17 +207,19 @@ void export_control() {
   ;
 
   class_<cr::WheelPhysicsControl>("WheelPhysicsControl")
-    .def(init<float, float, float, bool, float>(
+    .def(init<float, float, float, bool, float, cg::Vector3D>(
         (arg("tire_friction")=2.0f,
          arg("damping_rate")=0.25f,
          arg("max_steer_angle")=70.0f,
          arg("is_steerable")=false,
-         arg("radius")=30.0f)))
+         arg("radius")=30.0f,
+         arg("position")=cg::Vector3D{0.0f, 0.0f, 0.0f})))
     .def_readwrite("tire_friction", &cr::WheelPhysicsControl::tire_friction)
     .def_readwrite("damping_rate", &cr::WheelPhysicsControl::damping_rate)
     .def_readwrite("max_steer_angle", &cr::WheelPhysicsControl::max_steer_angle)
     .def_readwrite("is_steerable", &cr::WheelPhysicsControl::is_steerable)
     .def_readwrite("radius", &cr::WheelPhysicsControl::radius)
+    .def_readwrite("position", &cr::WheelPhysicsControl::position)
     .def("__eq__", &cr::WheelPhysicsControl::operator==)
     .def("__ne__", &cr::WheelPhysicsControl::operator!=)
     .def(self_ns::str(self_ns::self))

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

@@ -9,6 +9,8 @@
 
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
+#include "PhysXVehicleManager.h"
+#include "PhysXPublic.h"
 #include "TireConfig.h"
 #include "VehicleWheel.h"
 
@@ -247,11 +249,14 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
     UVehicleWheel *Wheel = Vehicle4W->WheelSetups[i].WheelClass.GetDefaultObject();
     check(Wheel != nullptr);
 
-    PhysicsWheel.TireFriction = Wheel->TireConfig->GetFrictionScale();
+    PxVehicleWheelData PWheelData = Vehicle4W->PVehicle->mWheelsSimData.getWheelData(i);
-    PhysicsWheel.DampingRate = Wheel->DampingRate;
+
-    PhysicsWheel.MaxSteerAngle = Wheel->SteerAngle;
+    PhysicsWheel.TireFriction = Vehicle4W->Wheels[i]->TireConfig->GetFrictionScale();
+    PhysicsWheel.DampingRate = Cm2ToM2(PWheelData.mDampingRate);
+    PhysicsWheel.MaxSteerAngle = PWheelData.mMaxSteer;
     PhysicsWheel.IsSteerable = !Vehicle4W->WheelSetups[i].bDisableSteering;
-    PhysicsWheel.Radius = Wheel->ShapeRadius;
+    PhysicsWheel.Radius = PWheelData.mRadius;
+    PhysicsWheel.Position = Vehicle4W->Wheels[i]->Location;
 
     Wheels.Add(PhysicsWheel);
   }
@@ -308,20 +313,25 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
   for (auto i = 0u; i < PhysicsWheelsNum; ++i)
   {
     FWheelSetup WheelSetup = Vehicle4W->WheelSetups[i];
-
+    UVehicleWheel *Wheel = Vehicle4W->Wheels[i];
-    UVehicleWheel *Wheel = WheelSetup.WheelClass.GetDefaultObject();
-    check(Wheel != nullptr);
-
-    Wheel->DampingRate = PhysicsControl.Wheels[i].DampingRate;
-    Wheel->SteerAngle = PhysicsControl.Wheels[i].MaxSteerAngle;
-    Wheel->TireConfig->SetFrictionScale(PhysicsControl.Wheels[i].TireFriction);
-    Wheel->ShapeRadius = PhysicsControl.Wheels[i].Radius;
 
     WheelSetup.bDisableSteering = !PhysicsControl.Wheels[i].IsSteerable;
 
+    PxVehicleWheelData PWheelData = Vehicle4W->PVehicle->mWheelsSimData.getWheelData(i);
+    PWheelData.mRadius = PhysicsControl.Wheels[i].Radius;
+    PWheelData.mMaxSteer = PhysicsControl.Wheels[i].MaxSteerAngle;
+    PWheelData.mDampingRate = M2ToCm2(PhysicsControl.Wheels[i].DampingRate);
+
+    Vehicle4W->PVehicle->mWheelsSimData.setWheelData(i, PWheelData);
+
     NewWheelSetups.Add(std::move(WheelSetup));
   }
 
   Vehicle4W->WheelSetups = NewWheelSetups;
-  Vehicle4W->RecreatePhysicsState();
+  // Vehicle4W->VehicleSetupTag++;
+
+  for (auto i = 0u; i < PhysicsWheelsNum; ++i)
+  {
+    Vehicle4W->Wheels[i]->TireConfig->SetFrictionScale(PhysicsControl.Wheels[i].TireFriction);
+  }
 }

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

@@ -27,4 +27,7 @@ struct CARLA_API FWheelPhysicsControl
 
   UPROPERTY(Category = "Wheel Shape Radius", EditAnywhere, BlueprintReadWrite)
   float Radius = 30.0f;
+
+  UPROPERTY(Category = "Wheel Position", EditAnywhere, BlueprintReadWrite)
+  FVector Position = FVector::ZeroVector;
 };