Created Friction Layer Actor

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

@@ -159,6 +159,25 @@ void ACarlaWheeledVehicle::SetHandbrakeInput(const bool Value)
   ApplyVehicleControl(Control, EVehicleInputPriority::User);
 }
 
+TArray<float> ACarlaWheeledVehicle::GetWheelsFrictionScale() {
+  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(GetVehicleMovement());
+
+  TArray<float> WheelsFrictionScale;
+  for (auto& Wheel : Vehicle4W->Wheels)
+  {
+    WheelsFrictionScale.Add(Wheel->TireConfig->GetFrictionScale());
+  }
+  return WheelsFrictionScale;
+}
+
+void ACarlaWheeledVehicle::SetWheelsFrictionScale(TArray<float> &WheelsFrictionScale) {
+  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(GetVehicleMovement());
+  for (int32 i = 0; i < Vehicle4W->Wheels.Num(); ++i)
+  {
+    Vehicle4W->Wheels[i]->TireConfig->SetFrictionScale(WheelsFrictionScale[i]);
+  }
+}
+
 FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
 {
   UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(

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

@@ -172,6 +172,9 @@ public:
     SetHandbrakeInput(false);
   }
 
+  TArray<float> GetWheelsFrictionScale();
+
+  void SetWheelsFrictionScale(TArray<float> &WheelsFrictionScale);
   /// @}
   // ===========================================================================
   /// @name Overriden from AActor

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

@@ -0,0 +1,84 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "FrictionLayer.h"
+#include "CarlaWheeledVehicle.h"
+
+  AFrictionLayer::AFrictionLayer(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  RootComponent = ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this,TEXT("SceneRootComponent"));
+  RootComponent->SetMobility(EComponentMobility::Static);
+  TriggerVolume = CreateDefaultSubobject<UBoxComponent>(TEXT("TriggerVolume"));
+  TriggerVolume->SetupAttachment(RootComponent);
+  TriggerVolume->SetHiddenInGame(true);
+  TriggerVolume->SetMobility(EComponentMobility::Static);
+  TriggerVolume->SetCollisionProfileName(FName("OverlapAll"));
+  TriggerVolume->SetGenerateOverlapEvents(true);
+}
+
+void AFrictionLayer::Init() {
+  // Register delegate on begin overlap.
+  if (!TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &AFrictionLayer::OnTriggerBeginOverlap))
+  {
+    TriggerVolume->OnComponentBeginOverlap.AddDynamic(this, &AFrictionLayer::OnTriggerBeginOverlap);
+  }
+
+  // Register delegate on end overlap.
+  if (!TriggerVolume->OnComponentEndOverlap.IsAlreadyBound(this, &AFrictionLayer::OnTriggerEndOverlap))
+  {
+    TriggerVolume->OnComponentEndOverlap.AddDynamic(this, &AFrictionLayer::OnTriggerEndOverlap);
+  }
+}
+
+void AFrictionLayer::OnTriggerBeginOverlap(
+    UPrimitiveComponent * /*OverlappedComp*/,
+    AActor *OtherActor,
+    UPrimitiveComponent * /*OtherComp*/,
+    int32 /*OtherBodyIndex*/,
+    bool /*bFromSweep*/,
+    const FHitResult & /*SweepResult*/)
+{
+  ACarlaWheeledVehicle* Vehicle = CastChecked<ACarlaWheeledVehicle>(OtherActor);
+  if (Vehicle) {
+    TArray<float> WheelsFrictionScale = Vehicle->GetWheelsFrictionScale();
+    for (auto& FrictionScale : WheelsFrictionScale) {
+      FrictionScale = 0.0f;
+    }
+
+    Vehicle->SetWheelsFrictionScale(WheelsFrictionScale);
+  }
+}
+
+void AFrictionLayer::OnTriggerEndOverlap(
+    UPrimitiveComponent * /*OverlappedComp*/,
+    AActor *OtherActor,
+    UPrimitiveComponent * /*OtherComp*/,
+    int32 /*OtherBodyIndex*/)
+{
+  ACarlaWheeledVehicle* Vehicle = CastChecked<ACarlaWheeledVehicle>(OtherActor);
+  if (Vehicle) {
+    TArray<float> WheelsFrictionScale = Vehicle->GetWheelsFrictionScale();
+    for (auto& FrictionScale : WheelsFrictionScale) {
+      FrictionScale = 3.5f;
+    }
+
+    Vehicle->SetWheelsFrictionScale(WheelsFrictionScale);
+  }
+}
+
+
+// Called when the game starts or when spawned
+void AFrictionLayer::BeginPlay()
+{
+  Super::BeginPlay();
+  Init();
+}
+
+// Called every frame
+void AFrictionLayer::Tick(float DeltaTime)
+{
+  Super::Tick(DeltaTime);
+
+}
+

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

@@ -0,0 +1,50 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "GameFramework/Actor.h"
+
+#include "FrictionLayer.generated.h"
+
+UCLASS()
+class CARLA_API AFrictionLayer : public AActor
+{
+  GENERATED_BODY()
+
+private:
+  void Init();
+
+public:
+
+  AFrictionLayer(const FObjectInitializer &ObjectInitializer);
+
+  UFUNCTION()
+  void OnTriggerBeginOverlap(
+      UPrimitiveComponent *OverlappedComp,
+      AActor *OtherActor,
+      UPrimitiveComponent *OtherComp,
+      int32 OtherBodyIndex,
+      bool bFromSweep,
+      const FHitResult &SweepResult);
+
+  UFUNCTION()
+  void OnTriggerEndOverlap(
+      UPrimitiveComponent *OverlappedComp,
+      AActor *OtherActor,
+      UPrimitiveComponent *OtherComp,
+      int32 OtherBodyIndex);
+
+protected:
+
+  virtual void BeginPlay() override;
+
+public:
+
+  UPROPERTY(EditAnywhere)
+  UBoxComponent *TriggerVolume;
+
+  virtual void Tick(float DeltaTime) override;
+
+
+
+};