Workaround bounding boxes only for vehicles

Docs/python_api.md

@@ -77,7 +77,6 @@
 
 - `id`
 - `type_id`
-- `bounding_box`
 - `semantic_tags`
 - `is_alive`
 - `get_world()`
@@ -92,6 +91,7 @@
 
 ## `carla.Vehicle(carla.Actor)`
 
+- `bounding_box`
 - `control`
 - `apply_control(vehicle_control)`
 - `set_autopilot(enabled=True)`

PythonAPI/source/libcarla/Actor.cpp

@@ -43,7 +43,6 @@ void export_actor() {
     // work-around, force return copy to resolve Actor instead of ActorState.
     .add_property("id", CALL_RETURNING_COPY(cc::Actor, GetId))
     .add_property("type_id", CALL_RETURNING_COPY(cc::Actor, GetTypeId))
-    .add_property("bounding_box", CALL_RETURNING_COPY(cc::Actor, GetBoundingBox))
     .add_property("semantic_tags", &GetSemanticTags)
     .add_property("is_alive", CALL_RETURNING_COPY(cc::Actor, IsAlive))
     .def("get_world", CALL_RETURNING_COPY(cc::Actor, GetWorld))
@@ -59,6 +58,7 @@ void export_actor() {
   ;
 
   class_<cc::Vehicle, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Vehicle>>("Vehicle", no_init)
+    .add_property("bounding_box", CALL_RETURNING_COPY(cc::Vehicle, GetBoundingBox))
     .add_property("control", CALL_RETURNING_COPY(cc::Vehicle, GetControl))
     .def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")))
     .def("set_autopilot", &cc::Vehicle::SetAutopilot, (arg("enabled")=true))

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

@@ -8,6 +8,7 @@
 #include "Carla/Server/TheNewCarlaServer.h"
 
 #include "Carla/Sensor/Sensor.h"
+#include "Carla/Vehicle/CarlaWheeledVehicle.h"
 
 #include "GameFramework/SpectatorPawn.h"
 
@@ -109,10 +110,15 @@ private:
 
   carla::geom::BoundingBox GetActorBoundingBox(const AActor &Actor)
   {
-    constexpr bool bOnlyCollidingComponents = true;
-    FVector Origin, BoxExtent;
-    Actor.GetActorBounds(bOnlyCollidingComponents, Origin, BoxExtent);
-    return {Origin, BoxExtent};
+    /// @todo Bounding boxes only available for vehicles.
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(&Actor);
+    if (Vehicle != nullptr)
+    {
+      FVector Location = Vehicle->GetVehicleBoundingBoxTransform().GetTranslation();
+      FVector Extent = Vehicle->GetVehicleBoundingBoxExtent();
+      return {Location, Extent};
+    }
+    return {};
   }
 
 public: