Adding Differential Type as int
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Jose
Blyron
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@ -3048,6 +3048,8 @@ The maximum RPM of the vehicle's engine.
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The moment of inertia of the vehicle's engine.
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- <a name="carla.VehiclePhysicsControl.rev_down_rate"></a>**<font color="#f8805a">rev_down_rate</font>** (_float_)
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Affects how fast the vehicle's engine RPM slows down.
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- <a name="carla.VehiclePhysicsControl.differential_type"></a>**<font color="#f8805a">differential_type</font>** (int)
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Type of differential (Undefined = 0, AllWheelDrive = 1, FrontWheelDrive = 2, RearWheelDrive = 3).
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- <a name="carla.VehiclePhysicsControl.front_rear_split"></a>**<font color="#f8805a">front_rear_split</font>** (_float_)
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Ratio of torque split between front and rear (<0.5 means more to front, >0.5 means more to rear, works only with 4W type).
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- <a name="carla.VehiclePhysicsControl.use_gear_autobox"></a>**<font color="#f8805a">use_gear_autobox</font>** (_bool_)
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@ -3080,7 +3082,7 @@ Enable the use of sweep for wheel collision. By default, it is disabled and it u
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List of wheel physics objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels.
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### Methods
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- <a name="carla.VehiclePhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**torque_curve**=[[0.0, 500.0], [5000.0, 500.0]]</font>, <font color="#00a6ed">**max_torque**=300.0</font>, <font color="#00a6ed">**max_rpm**=5000.0</font>, <font color="#00a6ed">**moi**=1.0</font>, <font color="#00a6ed">**rev_down_rate**=600.0</font>, <font color="#00a6ed">**front_rear_split**=0.5</font>, <font color="#00a6ed">**use_gear_autobox**=True</font>, <font color="#00a6ed">**gear_switch_time**=0.5</font>, <font color="#00a6ed">**final_ratio**=4.0</font>, <font color="#00a6ed">**forward_gears**=[2.85, 2.02, 1.35, 1.0, 2.85, 2.02, 1.35, 1.0]</font>, <font color="#00a6ed">**reverse_gears**=[2.86, 2.86]</font>, <font color="#00a6ed">**change_up_rpm**=4500.0</font>, <font color="#00a6ed">**change_down_rpm**=2000.0</font>, <font color="#00a6ed">**transmission_efficiency**=0.9</font>, <font color="#00a6ed">**mass**=1000.0</font>, <font color="#00a6ed">**drag_coefficient**=0.3</font>, <font color="#00a6ed">**center_of_mass**=[0.0, 0.0, 0.0]</font>, <font color="#00a6ed">**steering_curve**=[[0.0, 1.0], [10.0, 0.5]]</font>, <font color="#00a6ed">**wheels**=list()</font>, <font color="#00a6ed">**use_sweep_wheel_collision**=False</font>)
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- <a name="carla.VehiclePhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**torque_curve**=[[0.0, 500.0], [5000.0, 500.0]]</font>, <font color="#00a6ed">**max_torque**=300.0</font>, <font color="#00a6ed">**max_rpm**=5000.0</font>, <font color="#00a6ed">**moi**=1.0</font>, <font color="#00a6ed">**rev_down_rate**=600.0</font>, <font color="#00a6ed">**differential_type**=3</font>, <font color="#00a6ed">**front_rear_split**=0.5</font>, <font color="#00a6ed">**use_gear_autobox**=True</font>, <font color="#00a6ed">**gear_switch_time**=0.5</font>, <font color="#00a6ed">**final_ratio**=4.0</font>, <font color="#00a6ed">**forward_gears**=[2.85, 2.02, 1.35, 1.0, 2.85, 2.02, 1.35, 1.0]</font>, <font color="#00a6ed">**reverse_gears**=[2.86, 2.86]</font>, <font color="#00a6ed">**change_up_rpm**=4500.0</font>, <font color="#00a6ed">**change_down_rpm**=2000.0</font>, <font color="#00a6ed">**transmission_efficiency**=0.9</font>, <font color="#00a6ed">**mass**=1000.0</font>, <font color="#00a6ed">**drag_coefficient**=0.3</font>, <font color="#00a6ed">**center_of_mass**=[0.0, 0.0, 0.0]</font>, <font color="#00a6ed">**steering_curve**=[[0.0, 1.0], [10.0, 0.5]]</font>, <font color="#00a6ed">**wheels**=list()</font>, <font color="#00a6ed">**use_sweep_wheel_collision**=False</font>)
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VehiclePhysicsControl constructor.
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- **Parameters:**
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- `torque_curve` (_list([carla.Vector2D](#carla.Vector2D))_)
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@ -3088,6 +3090,7 @@ VehiclePhysicsControl constructor.
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- `max_rpm` (_float_)
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- `moi` (_float<small> - kg*m<sup>2</sup></small>_)
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- `rev_down_rate` (_float_)
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- `differential_type` (_int_)
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- `front_rear_split` (_float_)
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- `use_gear_autobox` (_bool_)
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- `gear_switch_time` (_float<small> - seconds</small>_)
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@ -29,6 +29,7 @@ namespace rpc {
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float in_moi,
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float in_rev_down_rate,
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uint8_t in_differential_type,
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float in_front_rear_split,
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bool in_use_gear_autobox,
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@ -51,6 +52,7 @@ namespace rpc {
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max_rpm(in_max_rpm),
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moi(in_moi),
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rev_down_rate(in_rev_down_rate),
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differential_type(in_differential_type),
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front_rear_split(in_front_rear_split),
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use_gear_autobox(in_use_gear_autobox),
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gear_switch_time(in_gear_switch_time),
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@ -121,6 +123,8 @@ namespace rpc {
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float moi = 1.0f;
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float rev_down_rate = 600.0f;
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// ToDo: Convert to an enum, see EVehicleDifferential.
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uint8_t differential_type = 0;
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float front_rear_split = 0.5f;
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bool use_gear_autobox = true;
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@ -148,6 +152,7 @@ namespace rpc {
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moi != rhs.moi ||
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rev_down_rate != rhs.rev_down_rate ||
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differential_type != rhs.differential_type ||
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front_rear_split != rhs.front_rear_split ||
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use_gear_autobox != rhs.use_gear_autobox ||
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@ -187,6 +192,7 @@ namespace rpc {
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rev_down_rate = Control.RevDownRate;
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// Differential Setup
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differential_type = Control.DifferentialType;
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front_rear_split = Control.FrontRearSplit;
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// Transmission Setup
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@ -244,6 +250,7 @@ namespace rpc {
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Control.RevDownRate = rev_down_rate;
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// Differential Setup
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Control.DifferentialType = differential_type;
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Control.FrontRearSplit = front_rear_split;
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// Transmission Setup
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@ -299,6 +306,7 @@ namespace rpc {
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max_rpm,
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moi,
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rev_down_rate,
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differential_type,
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front_rear_split,
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use_gear_autobox,
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gear_switch_time,
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@ -481,6 +481,7 @@ namespace rpc {
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<< ", max_rpm=" << std::to_string(control.max_rpm)
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<< ", moi=" << std::to_string(control.moi)
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<< ", rev_down_rate=" << std::to_string(control.rev_down_rate)
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<< ", differential_type=" << std::to_string(control.differential_type)
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<< ", front_rear_split=" << std::to_string(control.front_rear_split)
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<< ", use_gear_autobox=" << boolalpha(control.use_gear_autobox)
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<< ", gear_switch_time=" << std::to_string(control.gear_switch_time)
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@ -117,7 +117,7 @@ static void SetSteeringCurve(carla::rpc::VehiclePhysicsControl &self, const boos
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boost::python::object VehiclePhysicsControl_init(boost::python::tuple args, boost::python::dict kwargs) {
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// Args names
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const uint32_t NUM_ARGUMENTS = 20;
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const uint32_t NUM_ARGUMENTS = 21;
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const char *args_names[NUM_ARGUMENTS] = {
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"torque_curve",
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"max_torque",
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@ -125,6 +125,7 @@ boost::python::object VehiclePhysicsControl_init(boost::python::tuple args, boos
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"moi",
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"rev_down_rate",
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"differential_type",
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"front_rear_split",
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"use_gear_autobox",
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@ -368,6 +369,7 @@ void export_control() {
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.def_readwrite("max_rpm", &cr::VehiclePhysicsControl::max_rpm)
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.def_readwrite("moi", &cr::VehiclePhysicsControl::moi)
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.def_readwrite("rev_down_rate", &cr::VehiclePhysicsControl::rev_down_rate)
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.def_readwrite("differential_type", &cr::VehiclePhysicsControl::differential_type)
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.def_readwrite("front_rear_split", &cr::VehiclePhysicsControl::front_rear_split)
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.def_readwrite("use_gear_autobox", &cr::VehiclePhysicsControl::use_gear_autobox)
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.def_readwrite("gear_switch_time", &cr::VehiclePhysicsControl::gear_switch_time)
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@ -352,6 +352,11 @@
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doc: >
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Affects how fast the vehicle's engine RPM slows down.
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# --------------------------------------
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- var_name: differential_type
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type: int
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doc: >
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Type of differential (Undefined = 0, AllWheelDrive = 1, FrontWheelDrive = 2, RearWheelDrive = 3).
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# --------------------------------------
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- var_name: front_rear_split
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type: float
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doc: >
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@ -453,6 +458,9 @@
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- param_name: rev_down_rate
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default: 600.0
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type: float
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- param_name: differential_type
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default: 3
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type: int
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- param_name: front_rear_split
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default: 0.5
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type: float
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@ -21,6 +21,7 @@ void CarlaRecorderPhysicsControl::Write(std::ostream &OutFile)
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WriteValue(OutFile, RPCPhysicsControl.max_rpm);
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WriteValue(OutFile, RPCPhysicsControl.moi);
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WriteValue(OutFile, RPCPhysicsControl.rev_down_rate);
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WriteValue(OutFile, RPCPhysicsControl.differential_type);
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WriteValue(OutFile, RPCPhysicsControl.front_rear_split);
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WriteValue(OutFile, RPCPhysicsControl.use_gear_autobox);
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WriteValue(OutFile, RPCPhysicsControl.final_ratio);
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@ -55,6 +56,7 @@ void CarlaRecorderPhysicsControl::Read(std::istream &InFile)
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ReadValue(InFile, RPCPhysicsControl.max_rpm);
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ReadValue(InFile, RPCPhysicsControl.moi);
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ReadValue(InFile, RPCPhysicsControl.rev_down_rate);
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ReadValue(InFile, RPCPhysicsControl.differential_type);
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ReadValue(InFile, RPCPhysicsControl.front_rear_split);
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ReadValue(InFile, RPCPhysicsControl.use_gear_autobox);
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ReadValue(InFile, RPCPhysicsControl.final_ratio);
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@ -516,6 +516,7 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
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<< " max_rpm = " << Control.max_rpm << std::endl
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<< " MOI = " << Control.moi << std::endl
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<< " rev_down_rate = " << Control.rev_down_rate << std::endl
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<< " differential_type = " << Control.differential_type << std::endl
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<< " front_rear_split = " << Control.front_rear_split << std::endl
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<< " use_gear_auto_box = " << (Control.use_gear_autobox ? "true" : "false") << std::endl
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<< " gear_switch_time = " << Control.gear_switch_time << std::endl
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@ -371,6 +371,7 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl() const
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PhysicsControl.RevDownRate = VehicleMovComponent->EngineSetup.EngineRevDownRate;
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// Differential Setup
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PhysicsControl.DifferentialType = static_cast<uint8>(VehicleMovComponent->DifferentialSetup.DifferentialType);
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PhysicsControl.FrontRearSplit = VehicleMovComponent->DifferentialSetup.FrontRearSplit;
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// Transmission Setup
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@ -451,6 +452,7 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
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VehicleMovComponent->EngineSetup.EngineRevDownRate = PhysicsControl.RevDownRate;
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// Differential Setup
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VehicleMovComponent->DifferentialSetup.DifferentialType = static_cast<EVehicleDifferential>(PhysicsControl.DifferentialType);
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VehicleMovComponent->DifferentialSetup.FrontRearSplit = PhysicsControl.FrontRearSplit;
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// Transmission Setup
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@ -35,6 +35,10 @@ struct CARLA_API FVehiclePhysicsControl
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float RevDownRate = 600.0f;
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// Differential Setup
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// ToDo: Convert to an enum, see EVehicleDifferential.
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UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
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uint8 DifferentialType = 0;
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UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
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float FrontRearSplit = 0.5f;
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