From 3835de9b0d56097a01a4ced37397475cd9d23bd8 Mon Sep 17 00:00:00 2001
From: Daniel Santos-Olivan <dsantosolivan@gmail.com>
Date: Fri, 20 Nov 2020 16:15:28 +0100
Subject: [PATCH] Added sweep wheel option to VehiclePhysicsControl

---
 .../source/carla/rpc/VehiclePhysicsControl.h  | 26 ++++++++++++++++---
 PythonAPI/carla/source/libcarla/Control.cpp   | 10 ++++---
 .../Carla/Vehicle/VehiclePhysicsControl.h     |  3 +++
 3 files changed, 31 insertions(+), 8 deletions(-)

diff --git a/LibCarla/source/carla/rpc/VehiclePhysicsControl.h b/LibCarla/source/carla/rpc/VehiclePhysicsControl.h
index f35fbc390..0c4422b53 100644
--- a/LibCarla/source/carla/rpc/VehiclePhysicsControl.h
+++ b/LibCarla/source/carla/rpc/VehiclePhysicsControl.h
@@ -41,7 +41,8 @@ namespace rpc {
         float in_drag_coefficient,
         geom::Location in_center_of_mass,
         const std::vector<carla::geom::Vector2D> &in_steering_curve,
-        std::vector<WheelPhysicsControl> &in_wheels)
+        std::vector<WheelPhysicsControl> &in_wheels,
+        bool in_use_sweep_wheel_collision)
       : torque_curve(in_torque_curve),
         max_rpm(in_max_rpm),
         moi(in_moi),
@@ -57,7 +58,8 @@ namespace rpc {
         drag_coefficient(in_drag_coefficient),
         center_of_mass(in_center_of_mass),
         steering_curve(in_steering_curve),
-        wheels(in_wheels) {}
+        wheels(in_wheels),
+        use_sweep_wheel_collision(in_use_sweep_wheel_collision) {}
 
     const std::vector<GearPhysicsControl> &GetForwardGears() const {
       return forward_gears;
@@ -91,6 +93,14 @@ namespace rpc {
       steering_curve = in_steering_curve;
     }
 
+    void SetUseSweepWheelCollision(bool in_sweep) {
+      use_sweep_wheel_collision = in_sweep;
+    }
+
+    bool GetUseSweepWheelCollision() {
+      return use_sweep_wheel_collision;
+    }
+
     std::vector<geom::Vector2D> torque_curve = {geom::Vector2D(0.0f, 500.0f), geom::Vector2D(5000.0f, 500.0f)};
     float max_rpm = 5000.0f;
     float moi = 1.0f;
@@ -111,6 +121,8 @@ namespace rpc {
     std::vector<geom::Vector2D> steering_curve = {geom::Vector2D(0.0f, 1.0f), geom::Vector2D(10.0f, 0.5f)};
     std::vector<WheelPhysicsControl> wheels;
 
+    bool use_sweep_wheel_collision = false;
+
     bool operator!=(const VehiclePhysicsControl &rhs) const {
       return
         max_rpm != rhs.max_rpm ||
@@ -129,7 +141,8 @@ namespace rpc {
         drag_coefficient != rhs.drag_coefficient ||
         steering_curve != rhs.steering_curve ||
         center_of_mass != rhs.center_of_mass ||
-        wheels != rhs.wheels;
+        wheels != rhs.wheels ||
+        use_sweep_wheel_collision != rhs.use_sweep_wheel_collision;
     }
 
     bool operator==(const VehiclePhysicsControl &rhs) const {
@@ -180,6 +193,8 @@ namespace rpc {
       for (const auto &Wheel : Control.Wheels) {
         wheels.push_back(WheelPhysicsControl(Wheel));
       }
+
+      use_sweep_wheel_collision = Control.UseSweepWheelCollision;
     }
 
     operator FVehiclePhysicsControl() const {
@@ -229,6 +244,8 @@ namespace rpc {
       }
       Control.Wheels = Wheels;
 
+      Control.UseSweepWheelCollision = use_sweep_wheel_collision;
+
       return Control;
     }
 
@@ -249,7 +266,8 @@ namespace rpc {
         drag_coefficient,
         center_of_mass,
         steering_curve,
-        wheels);
+        wheels,
+        use_sweep_wheel_collision);
   };
 
 } // namespace rpc
diff --git a/PythonAPI/carla/source/libcarla/Control.cpp b/PythonAPI/carla/source/libcarla/Control.cpp
index c6af7568a..8a00bfee7 100644
--- a/PythonAPI/carla/source/libcarla/Control.cpp
+++ b/PythonAPI/carla/source/libcarla/Control.cpp
@@ -82,13 +82,13 @@ namespace rpc {
     << ", drag_coefficient=" << std::to_string(control.drag_coefficient)
     << ", center_of_mass=" << control.center_of_mass
     << ", steering_curve=" << control.steering_curve
-    << ", wheels=" << control.wheels << ')';
+    << ", wheels=" << control.wheels
+    << ", use_sweep_wheel_collision=" << control.use_sweep_wheel_collision << ')';
     return out;
   }
 } // namespace rpc
 } // namespace carla
 
-
 static auto GetVectorOfVector2DFromList(const boost::python::list &list) {
   std::vector<carla::geom::Vector2D> v;
 
@@ -181,7 +181,7 @@ static void SetSteeringCurve(carla::rpc::VehiclePhysicsControl &self, const boos
 
 boost::python::object VehiclePhysicsControl_init(boost::python::tuple args, boost::python::dict kwargs) {
   // Args names
-  const uint32_t NUM_ARGUMENTS = 16;
+  const uint32_t NUM_ARGUMENTS = 17;
   const char *args_names[NUM_ARGUMENTS] = {
     "torque_curve",
     "max_rpm",
@@ -201,7 +201,8 @@ boost::python::object VehiclePhysicsControl_init(boost::python::tuple args, boos
 
     "center_of_mass",
     "steering_curve",
-    "wheels"
+    "wheels",
+    "use_sweep_wheel_collision",
   };
 
   boost::python::object self = args[0];
@@ -373,6 +374,7 @@ void export_control() {
     .def_readwrite("center_of_mass", &cr::VehiclePhysicsControl::center_of_mass)
     .add_property("steering_curve", &GetSteeringCurve, &SetSteeringCurve)
     .add_property("wheels", &GetWheels, &SetWheels)
+    .def_readwrite("use_sweep_wheel_collision", &cr::VehiclePhysicsControl::use_sweep_wheel_collision)
     .def("__eq__", &cr::VehiclePhysicsControl::operator==)
     .def("__ne__", &cr::VehiclePhysicsControl::operator!=)
     .def(self_ns::str(self_ns::self))
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehiclePhysicsControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehiclePhysicsControl.h
index 2dd66624f..18890a545 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehiclePhysicsControl.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehiclePhysicsControl.h
@@ -82,4 +82,7 @@ struct CARLA_API FVehiclePhysicsControl
 
   // Wheels Setup
   TArray<FWheelPhysicsControl> Wheels;
+
+  UPROPERTY(Category = "Vehicle Wheels Configuration", EditAnywhere, BlueprintReadWrite)
+  bool UseSweepWheelCollision = false;
 };