Added culling control (#3656)

* Added culling configuration to settings

* Updated changelog

CHANGELOG.md

@@ -1,4 +1,5 @@
 ## Latest
+  * Added parameter to carla settings to control culling
   * Added `load_map_layer` and `unload_map_layer` to control map layers on new maps that support subleveling
   * Added `get_environment_objects`call to get all the placed objects in the level
   * Added `enable_environment_objects`call to enable/disable objects of the level

LibCarla/source/carla/rpc/EpisodeSettings.h

@@ -37,10 +37,12 @@ namespace rpc {
 
     int max_substeps = 10;
 
+    float max_culling_distance = 0.0f;
+
     bool deterministic_ragdolls = true;
 
     MSGPACK_DEFINE_ARRAY(synchronous_mode, no_rendering_mode, fixed_delta_seconds, substepping,
-        max_substep_delta_time, max_substeps, deterministic_ragdolls);
+        max_substep_delta_time, max_substeps, max_culling_distance, deterministic_ragdolls);
 
     // =========================================================================
     // -- Constructors ---------------------------------------------------------
@@ -55,13 +57,16 @@ namespace rpc {
         bool substepping = true,
         double max_substep_delta_time = 0.01,
         int max_substeps = 10,
+        float max_culling_distance = 0.0f,
         bool deterministic_ragdolls = true)
       : synchronous_mode(synchronous_mode),
         no_rendering_mode(no_rendering_mode),
         fixed_delta_seconds(
             fixed_delta_seconds > 0.0 ? fixed_delta_seconds : boost::optional<double>{}),
         substepping(substepping),
-        max_substep_delta_time(max_substep_delta_time), max_substeps(max_substeps),
+        max_substep_delta_time(max_substep_delta_time),
+        max_substeps(max_substeps),
+        max_culling_distance(max_culling_distance),
         deterministic_ragdolls(deterministic_ragdolls) {}
 
     // =========================================================================
@@ -76,6 +81,7 @@ namespace rpc {
           (fixed_delta_seconds == rhs.fixed_delta_seconds) &&
           (max_substep_delta_time == rhs.max_substep_delta_time) &&
           (max_substeps == rhs.max_substeps) &&
+          (max_culling_distance == rhs.max_culling_distance) &&
           (deterministic_ragdolls == rhs.deterministic_ragdolls);
     }
 
@@ -97,6 +103,7 @@ namespace rpc {
             Settings.bSubstepping,
             Settings.MaxSubstepDeltaTime,
             Settings.MaxSubsteps,
+            Settings.MaxCullingDistance,
             Settings.bDeterministicRagdolls) {}
 
     operator FEpisodeSettings() const {
@@ -109,6 +116,7 @@ namespace rpc {
       Settings.bSubstepping = substepping;
       Settings.MaxSubstepDeltaTime = max_substep_delta_time;
       Settings.MaxSubsteps = max_substeps;
+      Settings.MaxCullingDistance = max_culling_distance;
       Settings.bDeterministicRagdolls = deterministic_ragdolls;
 
       return Settings;

PythonAPI/carla/source/libcarla/World.cpp

@@ -141,19 +141,21 @@ void export_world() {
   ;
 
   class_<cr::EpisodeSettings>("WorldSettings")
-    .def(init<bool, bool, double, bool, double, int, bool>(
+    .def(init<bool, bool, double, bool, double, int, float, bool>(
         (arg("synchronous_mode")=false,
          arg("no_rendering_mode")=false,
          arg("fixed_delta_seconds")=0.0,
          arg("substepping")=true,
          arg("max_substep_delta_time")=0.01,
          arg("max_substeps")=10,
+         arg("max_culling_distance")=0.0f,
          arg("deterministic_ragdolls")=false)))
     .def_readwrite("synchronous_mode", &cr::EpisodeSettings::synchronous_mode)
     .def_readwrite("no_rendering_mode", &cr::EpisodeSettings::no_rendering_mode)
     .def_readwrite("substepping", &cr::EpisodeSettings::substepping)
     .def_readwrite("max_substep_delta_time", &cr::EpisodeSettings::max_substep_delta_time)
     .def_readwrite("max_substeps", &cr::EpisodeSettings::max_substeps)
+    .def_readwrite("max_culling_distance", &cr::EpisodeSettings::max_culling_distance)
     .def_readwrite("deterministic_ragdolls", &cr::EpisodeSettings::deterministic_ragdolls)
     .add_property("fixed_delta_seconds",
         +[](const cr::EpisodeSettings &self) {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp

@@ -103,6 +103,10 @@ void ACarlaGameModeBase::InitGame(
 
   GameInstance->NotifyInitGame();
 
+  OnEpisodeSettingsChangeHandle = FCarlaStaticDelegates::OnEpisodeSettingsChange.AddUObject(
+        this,
+        &ACarlaGameModeBase::OnEpisodeSettingsChanged);
+
   SpawnActorFactories();
 
   // make connection between Episode and Recorder
@@ -182,6 +186,8 @@ void ACarlaGameModeBase::Tick(float DeltaSeconds)
 
 void ACarlaGameModeBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
+  FCarlaStaticDelegates::OnEpisodeSettingsChange.Remove(OnEpisodeSettingsChangeHandle);
+
   Episode->EndPlay();
   GameInstance->NotifyEndEpisode();
 
@@ -510,3 +516,8 @@ void ACarlaGameModeBase::OnUnloadStreamLevel()
     RegisterEnvironmentObjects();
   }
 }
+
+void ACarlaGameModeBase::OnEpisodeSettingsChanged(const FEpisodeSettings &Settings)
+{
+  CarlaSettingsDelegate->SetAllActorsDrawDistance(GetWorld(), Settings.MaxCullingDistance);
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h

@@ -101,6 +101,8 @@ private:
 
   void ConvertMapLayerMaskToMapNames(int32 MapLayer, TArray<FName>& OutLevelNames);
 
+  void OnEpisodeSettingsChanged(const FEpisodeSettings &Settings);
+
   UPROPERTY()
   UCarlaGameInstance *GameInstance = nullptr;
 
@@ -134,6 +136,8 @@ private:
   UPROPERTY()
   ATrafficLightManager* TrafficLightManager = nullptr;
 
+  FDelegateHandle OnEpisodeSettingsChangeHandle;
+
   boost::optional<carla::road::Map> Map;
 
   int PendingLevelsToLoad = 0;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.h

@@ -41,6 +41,8 @@ public:
   UFUNCTION(BlueprintCallable, Category = "CARLA Settings", meta = (HidePin = "InWorld"))
   void ApplyQualityLevelPreRestart();
 
+  void SetAllActorsDrawDistance(UWorld *world, float max_draw_distance) const;
+
 private:
 
   UWorld *GetLocalWorld();
@@ -65,8 +67,6 @@ private:
 
   void SetActorComponentsDrawDistance(AActor *actor, float max_draw_distance) const;
 
-  void SetAllActorsDrawDistance(UWorld *world, float max_draw_distance) const;
-
   void SetPostProcessEffectsEnabled(UWorld *world, bool enabled) const;
 
   /// Execute engine commands to apply the epic quality level to the world.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h

@@ -28,6 +28,8 @@ struct CARLA_API FEpisodeSettings
 
   int MaxSubsteps = 10;
 
+  float MaxCullingDistance = 0.0f;
+
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   bool bDeterministicRagdolls = true;