Removed 'add_force' command, and little fixes.

CHANGELOG.md

@@ -12,7 +12,6 @@
     - set_velocity: for setting the linear velocity
     - set_angular_velocity: for setting the angular velocity
     - get_angular_velocity: for getting the angular velocity
-    - add_force: for applying a force (in world axis)
     - add_impulse: for applying an impulse (in world axis)
   * Added support for gnss_sensor
   * OpenDriveActor has been rewritten using the Waypoint API, this has fixed some bugs

LibCarla/source/carla/client/Actor.cpp

@@ -48,10 +48,6 @@ namespace client {
     GetEpisode().Lock()->SetActorVelocity(*this, vector);
   }
 
-  void Actor::AddForce(const geom::Vector3D &vector) {
-    GetEpisode().Lock()->AddActorForce(*this, vector);
-  }
-
   void Actor::AddImpulse(const geom::Vector3D &vector) {
     GetEpisode().Lock()->AddActorImpulse(*this, vector);
   }

LibCarla/source/carla/client/Actor.h

@@ -67,9 +67,6 @@ namespace client {
     /// Set the actor velocity.
     void SetVelocity(const geom::Vector3D &vector);
 
-    /// Add force to the actor.
-    void AddForce(const geom::Vector3D &vector);
-
     /// Add impulse to the actor.
     void AddImpulse(const geom::Vector3D &vector);
 

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

@@ -156,10 +156,6 @@ namespace detail {
     _pimpl->AsyncCall("set_actor_angular_velocity", actor, vector);
   }
 
- void Client::AddActorForce(const rpc::Actor &actor, const geom::Vector3D &vector) {
-    _pimpl->AsyncCall("add_actor_force", actor, vector);
-  }
-
  void Client::AddActorImpulse(const rpc::Actor &actor, const geom::Vector3D &vector) {
     _pimpl->AsyncCall("add_actor_impulse", actor, vector);
   }

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

@@ -115,10 +115,6 @@ namespace detail {
         const rpc::Actor &actor,
         const geom::Vector3D &vector);
 
-    void AddActorForce(
-        const rpc::Actor &actor,
-        const geom::Vector3D &vector);
-
     void AddActorImpulse(
         const rpc::Actor &actor,
         const geom::Vector3D &vector);

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

@@ -185,10 +185,6 @@ namespace detail {
       _client.SetActorAngularVelocity(actor.Serialize(), vector);
     }
 
-    void AddActorForce(const Actor &actor, const geom::Vector3D &vector) {
-      _client.AddActorForce(actor.Serialize(), vector);
-    }
-
     void AddActorImpulse(const Actor &actor, const geom::Vector3D &vector) {
       _client.AddActorImpulse(actor.Serialize(), vector);
     }

LibCarla/source/carla/geom/Vector3D.h

@@ -155,7 +155,7 @@ namespace geom {
     }
 
     operator FVector() const {
-      return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
+      return FVector{x, y, z};
     }
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4

PythonAPI/source/libcarla/Actor.cpp

@@ -65,7 +65,6 @@ void export_actor() {
     .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
     .def("set_velocity", &cc::Actor::SetVelocity, (arg("vector")))
     .def("set_angular_velocity", &cc::Actor::SetAngularVelocity, (arg("vector")))
-    .def("add_force", &cc::Actor::AddForce, (arg("vector")))
     .def("add_impulse", &cc::Actor::AddImpulse, (arg("vector")))
     .def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled")=true))
     .def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy))

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

@@ -318,7 +318,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     if (RootComponent == nullptr) {
       RespondErrorStr("unable to get actor angular velocity: not supported by actor");
     }
-    return cr::Vector3D(RootComponent->GetPhysicsAngularVelocityInDegrees()).ToMeters();
+    return cr::Vector3D(RootComponent->GetPhysicsAngularVelocityInDegrees());
   });
 
   Server.BindSync("set_actor_angular_velocity", [this](
@@ -334,7 +334,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
       RespondErrorStr("unable to set actor angular velocity: not supported by actor");
     }
     RootComponent->SetPhysicsAngularVelocityInDegrees(
-        vector.ToCentimeters(),
+        vector,
         false,
         "None");
   });
@@ -357,24 +357,6 @@ void FTheNewCarlaServer::FPimpl::BindActions()
         "None");
   });
 
-  Server.BindSync("add_actor_force", [this](
-      cr::Actor Actor,
-      cr::Vector3D vector) {
-    RequireEpisode();
-    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
-    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
-      RespondErrorStr("unable to add actor force: actor not found");
-    }
-    auto RootComponent = Cast<UPrimitiveComponent>(ActorView.GetActor()->GetRootComponent());
-    if (RootComponent == nullptr) {
-      RespondErrorStr("unable to add actor force: not supported by actor");
-    }
-    RootComponent->AddForce(
-        vector.ToCentimeters(),
-        "None",
-        false);
-  });
-
   Server.BindSync("add_actor_impulse", [this](
       cr::Actor Actor,
       cr::Vector3D vector) {
@@ -388,7 +370,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
       RespondErrorStr("unable to add actor impulse: not supported by actor");
     }
     RootComponent->AddImpulse(
-        vector.ToCentimeters(),
+        vector,
         "None",
         false);
   });