refactored code

LibCarla/source/carla/client/Vehicle.cpp

@@ -25,10 +25,21 @@ namespace client {
     }
   }
 
+  void Vehicle::ApplyPhysicsControl(const PhysicsControl &physics_control) {
+    if (physics_control != _physics_control) {
+      GetEpisode().Lock()->ApplyPhysicsControlToVehicle(*this, physics_control);
+      _physics_control = physics_control;
+    }
+  }
+
   Vehicle::Control Vehicle::GetControl() const {
     return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.control;
   }
 
+  Vehicle::PhysicsControl Vehicle::GetPhysicsControl() const {
+    return GetEpisode().Lock()->GetVehiclePhysicsControl(*this);
+  }
+
   float Vehicle::GetSpeedLimit() const {
     return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.speed_limit;
   }
@@ -47,12 +58,5 @@ namespace client {
     return boost::static_pointer_cast<TrafficLight>(actor);
   }
 
-  rpc::VehiclePhysicsControl Vehicle::GetPhysicsControl() const {
-    return GetEpisode().Lock()->GetVehiclePhysicsControl(GetId());
-  }
-
-  void Vehicle::SetPhysicsControl(const rpc::VehiclePhysicsControl &physics_control) {
-    return GetEpisode().Lock()->SetVehiclePhysicsControl(GetId(), physics_control);
-  }
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/Vehicle.h

@@ -8,6 +8,7 @@
 
 #include "carla/client/Actor.h"
 #include "carla/rpc/VehicleControl.h"
+#include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/TrafficLightState.h"
 
 namespace carla {
@@ -18,6 +19,7 @@ namespace client {
   public:
 
     using Control = rpc::VehicleControl;
+    using PhysicsControl = rpc::VehiclePhysicsControl;
 
     explicit Vehicle(ActorInitializer init) : Actor(std::move(init)) {}
 
@@ -27,6 +29,9 @@ namespace client {
     /// Apply @a control to this vehicle.
     void ApplyControl(const Control &control);
 
+    /// Apply physics control to this vehicle
+    void ApplyPhysicsControl(const PhysicsControl &physics_control);
+
     /// Return the control last applied to this vehicle.
     ///
     /// @note The following functions do not call the simulator, they return the
@@ -34,6 +39,7 @@ namespace client {
     /// received in the last tick.
     //////////////////////////////////////////////////////////////////////////////////
     Control GetControl() const;
+    PhysicsControl GetPhysicsControl() const;
 
     float GetSpeedLimit() const;
 
@@ -43,12 +49,11 @@ namespace client {
 
     SharedPtr<TrafficLight> GetTrafficLight() const;
 
-    rpc::VehiclePhysicsControl GetPhysicsControl() const;
 
-    void SetPhysicsControl(const rpc::VehiclePhysicsControl &physics_control);
   private:
 
     Control _control;
+    PhysicsControl _physics_control;
   };
 
 } // namespace client

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

@@ -120,14 +120,14 @@ namespace detail {
     return _pimpl->CallAndWait<return_t>("get_actors_by_id", ids);
   }
 
-  rpc::VehiclePhysicsControl Client::GetVehiclePhysicsControl(const int &actorId) const {
-    return _pimpl->CallAndWait<carla::rpc::VehiclePhysicsControl>("get_physics_control", actorId);
+  rpc::VehiclePhysicsControl Client::GetVehiclePhysicsControl(const rpc::Actor &actor) const {
+    return _pimpl->CallAndWait<carla::rpc::VehiclePhysicsControl>("get_physics_control", actor);
   }
 
-  void Client::SetVehiclePhysicsControl(
-      const int &actorId,
+  void Client::ApplyPhysicsControlToVehicle(
+      const rpc::Actor &actor,
       const rpc::VehiclePhysicsControl &physicsControl) {
-    return _pimpl->AsyncCall("set_physics_control", actorId, physicsControl);
+    return _pimpl->AsyncCall("apply_physics_control", actor, physicsControl);
   }
 
   rpc::Actor Client::SpawnActor(

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

@@ -78,9 +78,8 @@ namespace detail {
 
     std::vector<rpc::Actor> GetActorsById(const std::vector<actor_id_type> &ids);
 
-    rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const int &actorId) const;
+    rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const rpc::Actor &actor) const;
 
-    void SetVehiclePhysicsControl(const int &actorId, const rpc::VehiclePhysicsControl &physicsControl);
 
     rpc::Actor SpawnActor(
         const rpc::ActorDescription &description,
@@ -117,6 +116,10 @@ namespace detail {
         const rpc::Actor &walker,
         const rpc::WalkerControl &control);
 
+    void ApplyPhysicsControlToVehicle(
+        const rpc::Actor &vehicle,
+        const rpc::VehiclePhysicsControl &physicsControl);
+
     void SetTrafficLightState(
         const rpc::Actor &trafficLight,
         const rpc::TrafficLightState trafficLightState);

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

@@ -135,13 +135,10 @@ namespace detail {
       _client.SetWeatherParameters(weather);
     }
 
-    rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const int &actorId) const {
-      return _client.GetVehiclePhysicsControl(actorId);
+    rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const Vehicle &vehicle) const {
+      return _client.GetVehiclePhysicsControl(vehicle.Serialize());
     }
 
-    void SetVehiclePhysicsControl(const int &actorId, const rpc::VehiclePhysicsControl &physicsControl) {
-      _client.SetVehiclePhysicsControl(actorId, physicsControl);
-    }
     /// @}
     // =========================================================================
     /// @name General operations with actors
@@ -232,6 +229,9 @@ namespace detail {
       _client.ApplyControlToWalker(walker.Serialize(), control);
     }
 
+    void ApplyPhysicsControlToVehicle(Vehicle &vehicle, const rpc::VehiclePhysicsControl &physicsControl) {
+      _client.ApplyPhysicsControlToVehicle(vehicle.Serialize(), physicsControl);
+    }
     /// @}
     // =========================================================================
     /// @name Operations with sensors

PythonAPI/source/libcarla/Actor.cpp

@@ -76,13 +76,13 @@ void export_actor() {
       .add_property("bounding_box", CALL_RETURNING_COPY(cc::Vehicle, GetBoundingBox))
       .def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")))
       .def("get_control", &cc::Vehicle::GetControl)
+      .def("apply_physics_control", &cc::Vehicle::ApplyPhysicsControl, (arg("physics_control")))
+      .def("get_physics_control", &cc::Vehicle::GetPhysicsControl)
       .def("set_autopilot", &cc::Vehicle::SetAutopilot, (arg("enabled") = true))
       .def("get_speed_limit", &cc::Vehicle::GetSpeedLimit)
       .def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
       .def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)
       .def("get_traffic_light", &cc::Vehicle::GetTrafficLight)
-      .def("get_physics_control", &cc::Vehicle::GetPhysicsControl)
-      .def("set_physics_control", &cc::Vehicle::SetPhysicsControl)
       .def(self_ns::str(self_ns::self))
   ;
 

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

@@ -371,41 +371,39 @@ void FTheNewCarlaServer::FPimpl::BindActions()
 
 
  Server.BindSync("get_physics_control", [this](
-        int ActorId) -> R<cr::VehiclePhysicsControl>
+        cr::Actor Actor) -> R<cr::VehiclePhysicsControl>
   {
     REQUIRE_CARLA_EPISODE();
-    
-    auto ActorView = Episode->FindActor(ActorId);
+    auto ActorView = Episode->FindActor(Actor.id);
     if (!ActorView.IsValid())
     {
-      RESPOND_ERROR("unable to apply control: actor not found");
+      RESPOND_ERROR("unable to get actor physics control: actor not found");
     }
     auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
     if (Vehicle == nullptr)
     {
       RESPOND_ERROR("unable to apply control: actor is not a vehicle");
     }
-    
+
     return cr::VehiclePhysicsControl(Vehicle->GetVehiclePhysicsControl());
   });
 
-  Server.BindSync("set_physics_control", [this](
-        int ActorId, cr::VehiclePhysicsControl PhysicsControl) -> R<void>
+  Server.BindSync("apply_physics_control", [this](
+        cr::Actor Actor, cr::VehiclePhysicsControl PhysicsControl) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();
-    
-    auto ActorView = Episode->FindActor(ActorId);
+    auto ActorView = Episode->FindActor(Actor.id);
     if (!ActorView.IsValid())
     {
-      RESPOND_ERROR("unable to apply control: actor not found");
+      RESPOND_ERROR("unable to apply actor physics control: actor not found");
     }
     auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
     if (Vehicle == nullptr)
     {
       RESPOND_ERROR("unable to apply control: actor is not a vehicle");
     }
-    
-    Vehicle->SetVehiclePhysicsControl(FVehiclePhysicsControl(PhysicsControl));
+
+    Vehicle->ApplyVehiclePhysicsControl(FVehiclePhysicsControl(PhysicsControl));
 
     return R<void>::Success();
   });

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

@@ -187,7 +187,7 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
   return PhysicsControl;
 }
 
-void ACarlaWheeledVehicle::SetVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl)
+void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl)
 {
   UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovement());
@@ -199,10 +199,8 @@ void ACarlaWheeledVehicle::SetVehiclePhysicsControl(const FVehiclePhysicsControl
   Vehicle4W->EngineSetup.MOI = PhysicsControl.MOI;
 
   Vehicle4W->EngineSetup.DampingRateFullThrottle = PhysicsControl.DampingRateFullThrottle;
-  Vehicle4W->EngineSetup.DampingRateZeroThrottleClutchEngaged =
-      PhysicsControl.DampingRateZeroThrottleClutchEngaged;
-  Vehicle4W->EngineSetup.DampingRateZeroThrottleClutchDisengaged =
-      PhysicsControl.DampingRateZeroThrottleClutchDisengaged;
+  Vehicle4W->EngineSetup.DampingRateZeroThrottleClutchEngaged = PhysicsControl.DampingRateZeroThrottleClutchEngaged;
+  Vehicle4W->EngineSetup.DampingRateZeroThrottleClutchDisengaged = PhysicsControl.DampingRateZeroThrottleClutchDisengaged;
 
   // Transmission Setup
   Vehicle4W->TransmissionSetup.bUseGearAutoBox = PhysicsControl.bUseGearAutoBox;

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

@@ -98,7 +98,7 @@ public:
 
   FVehiclePhysicsControl GetVehiclePhysicsControl();
 
-  void SetVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl);
+  void ApplyVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl);
 
   /// @}
   // ===========================================================================