Merge remote-tracking branch 'origin/master' into Optimizations

Docs/measurements.md

@@ -127,11 +127,7 @@ size.
 ###### Transform and bounding box
 
 The transform defines the location and orientation of the agent. The bounding
-box is assumed to be centered at the agent's location. The box extent gives the
+box is centered at the agent's location. The box extent gives the radii
-radii dimensions of the bounding box of the agent.
+dimensions of the bounding box of the agent.
 
 ![Vehicle Bounding Box](img/vehicle_bounding_box.png)
-
-!!! important
-    As seen in the picture, the Z coordinate of the box is not fitted to
-    vehicle's height.

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

@@ -136,7 +136,6 @@ void FCarlaEncoder::Encode(
 void FCarlaEncoder::Encode(const UAgentComponent &AgentComponent, carla_agent &AgentData)
 {
   AgentData.id = AgentComponent.GetId();
-  ::Encode(AgentComponent.GetComponentTransform(), AgentData.transform);
   FCarlaEncoder Encoder(AgentData);
   AgentComponent.AcceptVisitor(Encoder);
 }
@@ -149,6 +148,7 @@ FCarlaEncoder::FCarlaEncoder(carla_agent &InData) : Data(InData) {}
 
 void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
 {
+  ::Encode(Agent.GetComponentTransform(), Data.transform);
   auto &TrafficSign = Agent.GetTrafficSign();
   switch (TrafficSign.GetTrafficSignState()) {
     case ETrafficSignState::TrafficLightRed:
@@ -200,6 +200,7 @@ void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
 void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 {
   auto &Vehicle = Agent.GetVehicle();
+  ::Encode(Vehicle.GetVehicleTransform(), Data.transform);
   Data.type = CARLA_SERVER_AGENT_VEHICLE;
   Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
   ::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
@@ -207,6 +208,7 @@ void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 
 void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
 {
+  ::Encode(Agent.GetComponentTransform(), Data.transform);
   Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
   Data.forward_speed = Agent.GetForwardSpeed();
   ::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);

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

@@ -64,7 +64,7 @@ void ACarlaVehicleController::Tick(float DeltaTime)
     auto Vehicle = GetPossessedVehicle();
     CarlaPlayerState->UpdateTimeStamp(DeltaTime);
     const FVector PreviousSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
-    CarlaPlayerState->Transform = Vehicle->GetActorTransform();
+    CarlaPlayerState->Transform = Vehicle->GetVehicleTransform();
     CarlaPlayerState->ForwardSpeed = Vehicle->GetVehicleForwardSpeed();
     const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
     CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
@@ -113,7 +113,7 @@ void ACarlaVehicleController::IntersectPlayerWithRoadMap()
   auto Vehicle = GetPossessedVehicle();
   constexpr float ChecksPerCentimeter = 0.1f;
   auto Result = RoadMap->Intersect(
-      Vehicle->GetActorTransform(),
+      Vehicle->GetVehicleTransform(),
       Vehicle->GetVehicleBoundsExtent(),
       ChecksPerCentimeter);
 

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

@@ -37,6 +37,13 @@ ACarlaWheeledVehicle::~ACarlaWheeledVehicle() {}
 // -- Get functions ------------------------------------------------------------
 // =============================================================================
 
+FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
+{
+  FTransform Transform = VehicleBounds->GetComponentTransform();
+  Transform.SetScale3D(GetActorTransform().GetScale3D());
+  return Transform;
+}
+
 float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 {
   return GetVehicleMovementComponent()->GetForwardSpeed() * 0.036f;
@@ -44,7 +51,7 @@ float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 
 FVector ACarlaWheeledVehicle::GetVehicleOrientation() const
 {
-  return GetActorTransform().GetRotation().GetForwardVector();
+  return GetVehicleTransform().GetRotation().GetForwardVector();
 }
 
 int32 ACarlaWheeledVehicle::GetVehicleCurrentGear() const

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

@@ -41,6 +41,11 @@ public:
   /// @{
 public:
 
+  /// Transform of the vehicle. Location is shifted so it matches center of the
+  /// vehicle bounds rather than the actor's location.
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  FTransform GetVehicleTransform() const;
+
   /// Forward speed in km/h. Might be negative if goes backwards.
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   float GetVehicleForwardSpeed() const;

Util/ContentVersions.txt

@@ -8,4 +8,4 @@
 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT
 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT
 0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq
-Latest: 1_kSLT8Q05I7zC_X0q4ABMIB8gRd-W-ZF
+Latest: 1LrXnaSD0eN3aeYFeBm2jNGSnA0JHwBng