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Created base chrono implementation

This commit is contained in:
Axel 2021-01-28 12:53:40 +01:00 committed by bernat
parent 7c3367325f
commit 2117794dd7
5 changed files with 182 additions and 40 deletions
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35
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
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@ -7,6 +7,7 @@ using UnrealBuildTool;
public class Carla : ModuleRules
{
bool UsingCarSim = false;
bool UsingChrono = false;
private bool IsWindows(ReadOnlyTargetRules Target)
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
@ -24,19 +25,23 @@ public class Carla : ModuleRules
// Read config about carsim
string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
string ConfigDir = Path.GetFullPath(Path.Combine(CarlaPluginPath, "../../../../Config/"));
string CarSimConfigFile = Path.Combine(ConfigDir, "CarSimConfig.ini");
string[] text = System.IO.File.ReadAllLines(CarSimConfigFile);
Console.WriteLine("----------------------------------------------");
string OptionalModulesFile = Path.Combine(ConfigDir, "OptionalModules.ini");
string[] text = System.IO.File.ReadAllLines(OptionalModulesFile);
foreach (string line in text)
{
Console.WriteLine(line);
if (line.Contains("CarSim ON"))
{
Console.WriteLine("Enabling carsim-----------");
Console.WriteLine("Enabling carsim");
UsingCarSim = true;
PublicDefinitions.Add("WITH_CARSIM");
PrivateDefinitions.Add("WITH_CARSIM");
Definitions.Add("WITH_CARSIM");
}
if (line.Contains("Chrono ON"))
{
Console.WriteLine("Enabling chrono");
UsingChrono = true;
PublicDefinitions.Add("WITH_CHRONO");
PrivateDefinitions.Add("WITH_CHRONO");
}
}
@ -173,14 +178,16 @@ public class Carla : ModuleRules
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine_vehicle.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_vehicle.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine_vehicle.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_vehicle.so"));
bUseRTTI = true;
if (UsingChrono)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine_vehicle.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_vehicle.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine_vehicle.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_vehicle.so"));
bUseRTTI = true;
}
}
// Include path.

79
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp
View File

@ -7,23 +7,42 @@
#include "ChronoMovementComponent.h"
#ifdef WITH_CHRONO
using namespace chrono;
using namespace chrono::vehicle;
using namespace chrono::vehicle::hmmwv;
#endif
void UChronoMovementComponent::CreateChronoMovementComponent(
ACarlaWheeledVehicle* Vehicle)
{
#ifdef WITH_CHRONO
UChronoMovementComponent* ChronoMovementComponent = NewObject<UChronoMovementComponent>(Vehicle);
ChronoMovementComponent->RegisterComponent();
Vehicle->SetCarlaMovementComponent(ChronoMovementComponent);
#else
UE_LOG(LogCarla, Warning, TEXT("Error: Chrono is not enabled") );
#endif
}
#ifdef WITH_CHRONO
constexpr double CMTOM = 0.01;
ChVector<> UE4LocationToChrono(FVector& Location)
{
return CMTOM*ChVector<>(Location.Y, Location.Z, -Location.X);
}
constexpr double MTOCM = 100;
FVector ChronoToUE4Location(ChVector<>& position)
{
return MTOCM*FVector(-position.z(), position.x(), position.y());
}
void UChronoMovementComponent::BeginPlay()
{
Super::BeginPlay();
// DisableUE4VehiclePhysics();
DisableUE4VehiclePhysics();
// // // Chrono system
sys.Set_G_acc(ChVector<>(0, 0, 0));
@ -36,7 +55,9 @@ void UChronoMovementComponent::BeginPlay()
my_hmmwv = HMMWV_Full(&sys);
my_hmmwv.SetContactMethod(ChMaterialSurface::NSC);
my_hmmwv.SetChassisFixed(false);
my_hmmwv.SetInitPosition(ChCoordsys<>(ChVector<>(10, 10, 0), QUNIT));
// Missing axis transformations to UE coordinate system
FVector VehicleLocation = CarlaVehicle->GetActorLocation();
my_hmmwv.SetInitPosition(ChCoordsys<>(ChVector<>(UE4LocationToChrono(VehicleLocation)), QUNIT));
my_hmmwv.SetPowertrainType(PowertrainModelType::SHAFTS);
my_hmmwv.SetDriveType(DrivelineType::FWD);
my_hmmwv.SetTireType(TireModelType::PAC02);
@ -51,17 +72,16 @@ void UChronoMovementComponent::BeginPlay()
patch->SetContactRestitutionCoefficient(0.01f);
patch->SetContactMaterialProperties(2e7f, 0.3f);
terrain->Initialize();
carla::log_warning("ChronoBeginPlay");
}
void UChronoMovementComponent::ProcessControl(FVehicleControl &Control)
{
double Time = my_hmmwv.GetSystem()->GetChTime(); // this line crashes, my_hmmwv.GetSystem() returns an invalid pointer
double Time = my_hmmwv.GetSystem()->GetChTime();
double Throttle = 0; //Control.Throttle;
double Steering = 0; //Control.Steer;
double Brake = 0; //Control.Brake + Control.bHandBrake;
double Throttle = Control.Throttle;
double Steering = Control.Steer;
double Brake = Control.Brake + Control.bHandBrake;
my_hmmwv.Synchronize(Time, {Throttle, Steering, Brake}, *terrain.get());
terrain->Synchronize(Time);
@ -72,26 +92,43 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
ELevelTick TickType,
FActorComponentTickFunction* ThisTickFunction)
{
double Time = my_hmmwv.GetSystem()->GetChTime(); // this line crashes, my_hmmwv.GetSystem() returns an invalid pointer
terrain->Advance(DeltaTime);
my_hmmwv.Advance(DeltaTime);
sys.DoStepDynamics(DeltaTime);
auto* vehicle = &my_hmmwv.GetVehicle(); // this line crashes, my_hmmwv.GetVehicle() also returns an invalid pointer
if(vehicle)
// Maximum delta time for the simulation to be stable
// TODO: make this a customizable value
const float MaxDeltaTime = 0.002;
if (DeltaTime > MaxDeltaTime)
{
auto VehiclePos = vehicle->GetVehiclePos();
auto VehicleRot = vehicle->GetVehicleRot();
carla::log_warning("Time:", Time);
carla::log_warning("vehicle pos (", VehiclePos.x(), VehiclePos.y(), VehiclePos.z(), ")");
carla::log_warning("vehicle rot (", VehicleRot.e1(), VehicleRot.e2(), VehicleRot.e3(), VehicleRot.e0(), ")");
CarlaVehicle->SetActorLocation(FVector(VehiclePos.x(), VehiclePos.y(), VehiclePos.z()));
CarlaVehicle->SetActorRotation(FQuat(VehicleRot.e1(), VehicleRot.e2(), VehicleRot.e3(), VehicleRot.e0()));
uint64_t NumberSubSteps = FGenericPlatformMath::FloorToInt(DeltaTime/MaxDeltaTime);
carla::log_warning("Number of chrono substeps:", NumberSubSteps);
for (uint64_t i = 0; i < NumberSubSteps; ++i)
{
AdvanceChronoSimulation(MaxDeltaTime);
}
float RemainingTime = DeltaTime - NumberSubSteps*MaxDeltaTime;
AdvanceChronoSimulation(RemainingTime);
}
else
{
carla::log_warning("vehicle not initialized");
AdvanceChronoSimulation(DeltaTime);
}
auto* vehicle = &my_hmmwv.GetVehicle();
auto VehiclePos = vehicle->GetVehiclePos();
auto VehicleRot = vehicle->GetVehicleRot();
double Time = my_hmmwv.GetSystem()->GetChTime();
carla::log_warning("Time:", Time);
carla::log_warning("vehicle pos (", VehiclePos.x(), VehiclePos.y(), VehiclePos.z(), ")");
carla::log_warning("vehicle rot (", VehicleRot.e1(), VehicleRot.e2(), VehicleRot.e3(), VehicleRot.e0(), ")");
CarlaVehicle->SetActorLocation(ChronoToUE4Location(VehiclePos));
CarlaVehicle->SetActorRotation(FQuat(VehicleRot.e1(), VehicleRot.e2(), VehicleRot.e3(), VehicleRot.e0()));
carla::log_warning("ChronoTick");
}
void UChronoMovementComponent::AdvanceChronoSimulation(float StepSize)
{
terrain->Advance(StepSize);
my_hmmwv.Advance(StepSize);
sys.DoStepDynamics(StepSize);
}
#endif

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.h
View File

@ -10,6 +10,7 @@
#include "BaseCarlaMovementComponent.h"
#include "Carla/Vehicle/VehicleControl.h"
#ifdef WITH_CHRONO
#include "compiler/disable-ue4-macros.h"
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wall"
@ -22,6 +23,7 @@
#pragma clang diagnostic pop
#include "compiler/enable-ue4-macros.h"
#endif
#include "ChronoMovementComponent.generated.h"
@ -30,15 +32,18 @@ class CARLA_API UChronoMovementComponent : public UBaseCarlaMovementComponent
{
GENERATED_BODY()
#ifdef WITH_CHRONO
chrono::ChSystemNSC sys;
chrono::vehicle::hmmwv::HMMWV_Full my_hmmwv;
std::shared_ptr<chrono::vehicle::RigidTerrain> terrain;
#endif
public:
static void CreateChronoMovementComponent(ACarlaWheeledVehicle* Vehicle);
#ifdef WITH_CHRONO
virtual void BeginPlay() override;
void ProcessControl(FVehicleControl &Control) override;
@ -47,4 +52,6 @@ public:
ELevelTick TickType,
FActorComponentTickFunction* ThisTickFunction) override;
void AdvanceChronoSimulation(float StepSize);
#endif
};

17
Util/BuildTools/BuildCarlaUE4.sh
View File

@ -13,11 +13,12 @@ HARD_CLEAN=false
BUILD_CARLAUE4=false
LAUNCH_UE4_EDITOR=false
USE_CARSIM=false
USE_CHRONO=false
GDB=
RHI="-vulkan"
OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim -n 'parse-options' -- "$@"`
OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim,chrono -n 'parse-options' -- "$@"`
eval set -- "$OPTS"
@ -49,6 +50,9 @@ while [[ $# -gt 0 ]]; do
--carsim )
USE_CARSIM=true;
shift ;;
--chrono )
USE_CHRONO=true
shift ;;
-h | --help )
echo "$DOC_STRING"
echo "$USAGE_STRING"
@ -117,13 +121,20 @@ fi
if ${BUILD_CARLAUE4} ; then
FILE_TEXT=""
if ${USE_CARSIM} ; then
python ${PWD}/../../Util/BuildTools/enable_carsim_to_uproject.py -f="CarlaUE4.uproject" -e
echo "CarSim ON" > ${PWD}/Config/CarSimConfig.ini
FILE_TEXT="CarSim ON"$'\n'"${FILE_TEXT}"
else
python ${PWD}/../../Util/BuildTools/enable_carsim_to_uproject.py -f="CarlaUE4.uproject"
echo "CarSim OFF" > ${PWD}/Config/CarSimConfig.ini
FILE_TEXT="CarSim OFF"$'\n'"${FILE_TEXT}"
fi
if ${USE_CHRONO} ; then
FILE_TEXT="Chrono ON"$'\n'"${FILE_TEXT}"
else
FILE_TEXT="Chrono OFF"$'\n'"${FILE_TEXT}"
fi
echo ${FILE_TEXT} > ${PWD}/Config/OptionalModules.ini
if [ ! -f Makefile ]; then

84
Util/BuildTools/Setup.sh
View File

@ -8,17 +8,21 @@ DOC_STRING="Download and install the required libraries for carla."
USAGE_STRING="Usage: $0 [--python-version=VERSION]"
OPTS=`getopt -o h --long help,python-version: -n 'parse-options' -- "$@"`
OPTS=`getopt -o h --long help,chrono,python-version: -n 'parse-options' -- "$@"`
eval set -- "$OPTS"
PY_VERSION_LIST=3
USE_CHRONO=false
while [[ $# -gt 0 ]]; do
case "$1" in
--python-version )
PY_VERSION_LIST="$2";
shift 2 ;;
--chrono )
USE_CHRONO=true;
shift ;;
-h | --help )
echo "$DOC_STRING"
echo "$USAGE_STRING"
@ -461,6 +465,82 @@ else
rm -Rf ${XERCESC_SRC_DIR}
fi
if ${USE_CHRONO} ; then
# ==============================================================================
# -- Get Eigen headers (Chrono dependency) -------------------------------------
# ==============================================================================
EIGEN_VERSION=3.3.7
EIGEN_REPO=https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz
EIGEN_BASENAME=eigen-${EIGEN_VERSION}
EIGEN_SRC_DIR=eigen-${EIGEN_VERSION}-src
EIGEN_INSTALL_DIR=eigen-${EIGEN_VERSION}-install
EIGEN_INCLUDE=${EIGEN_INSTALL_DIR}/include
if [[ -d ${EIGEN_INSTALL_DIR} ]] ; then
log "Eigen already installed."
else
log "Retrieving Eigen."
wget ${EIGEN_REPO}
log "Extracting Eigen."
tar -xzf ${EIGEN_BASENAME}.tar.gz
mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR}
mkdir -p ${EIGEN_INCLUDE}/unsupported
mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE}
mv ${EIGEN_SRC_DIR}/unsupported/Eigen ${EIGEN_INCLUDE}/unsupported/Eigen
rm -Rf ${EIGEN_BASENAME}.tar.gz
rm -Rf ${EIGEN_SRC_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
cp -p -r ${EIGEN_INCLUDE}/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
# ==============================================================================
# -- Get Chrono and compile it with libc++ -------------------------------------
# ==============================================================================
CHRONO_TAG=5.0.1
CHRONO_REPO=https://github.com/projectchrono/chrono.git
CHRONO_SRC_DIR=chrono-source
CHRONO_INSTALL_DIR=chrono-install
if [[ -d ${CHRONO_INSTALL_DIR} ]] ; then
log "chrono library already installed."
else
log "Retrieving chrono library."
git clone --depth 1 --branch ${CHRONO_TAG} ${CHRONO_REPO} ${CHRONO_SRC_DIR}
mkdir -p ${CHRONO_SRC_DIR}/build
pushd ${CHRONO_SRC_DIR}/build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH} -Wno-unused-command-line-argument" \
-DEIGEN3_INCLUDE_DIR="../../${EIGEN_INCLUDE}" \
-DCMAKE_INSTALL_PREFIX="../../${CHRONO_INSTALL_DIR}" \
-DENABLE_MODULE_VEHICLE=ON \
..
ninja
ninja install
popd >/dev/null
rm -Rf ${CHRONO_SRC_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
cp -p ${CHRONO_INSTALL_DIR}/lib/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p -r ${CHRONO_INSTALL_DIR}/include/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
fi
# ==============================================================================
# -- Generate Version.h --------------------------------------------------------
# ==============================================================================
@ -511,7 +591,7 @@ cat >>${LIBCPP_TOOLCHAIN_FILE}.gen <<EOL
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -stdlib=libc++" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -isystem ${LLVM_INCLUDE}" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions" CACHE STRING "" FORCE)
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -L${LLVM_LIBPATH}" CACHE STRING "" FORCE)
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -lc++ -lc++abi" CACHE STRING "" FORCE)
EOL