Add jump to pedestrian control

LibCarla/source/carla/rpc/WalkerControl.h

@@ -22,37 +22,44 @@ namespace rpc {
 
     WalkerControl(
         geom::Vector3D in_direction,
-        float in_speed)
+        float in_speed,
+        bool in_jump)
       : direction(in_direction),
-        speed(in_speed) {}
+        speed(in_speed),
+        jump(in_jump) {}
 
     geom::Vector3D direction = {1.0f, 0.0f, 0.0f};
+
     float speed = 0.0f;
 
+    bool jump = false;
+
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
     WalkerControl(const FWalkerControl &Control)
       : direction(Control.Direction.X, Control.Direction.Y, Control.Direction.Z),
-        speed(1e-2f * Control.Speed) {}
+        speed(1e-2f * Control.Speed),
+        jump(Control.Jump) {}
 
     operator FWalkerControl() const {
       FWalkerControl Control;
       Control.Direction = {direction.x, direction.y, direction.z};
       Control.Speed = 1e2f * speed;
+      Control.Jump = jump;
       return Control;
     }
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 
     bool operator!=(const WalkerControl &rhs) const {
-      return direction != rhs.direction || speed != rhs.speed;
+      return direction != rhs.direction || speed != rhs.speed || jump != rhs.jump;
     }
 
     bool operator==(const WalkerControl &rhs) const {
       return !(*this != rhs);
     }
 
-    MSGPACK_DEFINE_ARRAY(direction, speed);
+    MSGPACK_DEFINE_ARRAY(direction, speed, jump);
   };
 
 } // namespace rpc

LibCarla/source/carla/sensor/data/ActorDynamicState.h

@@ -60,16 +60,18 @@ namespace detail {
 
     PackedWalkerControl(const rpc::WalkerControl &control)
       : direction{control.direction.x, control.direction.y, control.direction.z},
-        speed(control.speed) {}
+        speed(control.speed),
+        jump(control.jump) {}
 
     operator rpc::WalkerControl() const {
-      return {geom::Vector3D{direction[0u], direction[1u], direction[2u]}, speed};
+      return {geom::Vector3D{direction[0u], direction[1u], direction[2u]}, speed, jump};
     }
 
   private:
 
     float direction[3u];
     float speed;
+    bool jump;
   };
 #pragma pack(pop)
 

PythonAPI/source/libcarla/Control.cpp

@@ -12,8 +12,11 @@
 namespace carla {
 namespace rpc {
 
+  static auto boolalpha(bool b) {
+    return b ? "True" : "False";
+  };
+
   std::ostream &operator<<(std::ostream &out, const VehicleControl &control) {
-    auto boolalpha = [](bool b) { return b ? "True" : "False"; };
     out << "VehicleControl(throttle=" << control.throttle
         << ", steer=" << control.steer
         << ", brake=" << control.brake
@@ -26,7 +29,8 @@ namespace rpc {
 
   std::ostream &operator<<(std::ostream &out, const WalkerControl &control) {
     out << "WalkerControl(direction=" << control.direction
-        << ", speed=" << control.speed << ')';
+        << ", speed=" << control.speed
+        << ", jump=" << boolalpha(control.jump) << ')';
     return out;
   }
 
@@ -60,11 +64,13 @@ void export_control() {
   ;
 
   class_<cr::WalkerControl>("WalkerControl")
-    .def(init<cg::Vector3D, float>(
+    .def(init<cg::Vector3D, float, bool>(
         (arg("direction")=cg::Vector3D{1.0f, 0.0f, 0.0f},
-         arg("speed")=0.0f)))
+         arg("speed")=0.0f,
+         arg("jump")=false)))
     .def_readwrite("direction", &cr::WalkerControl::direction)
     .def_readwrite("speed", &cr::WalkerControl::speed)
+    .def_readwrite("jump", &cr::WalkerControl::jump)
     .def("__eq__", &cr::WalkerControl::operator==)
     .def("__ne__", &cr::WalkerControl::operator!=)
     .def(self_ns::str(self_ns::self))

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerControl.h

@@ -18,4 +18,7 @@ struct CARLA_API FWalkerControl
 
   UPROPERTY(Category = "Walker Control", EditAnywhere, BlueprintReadWrite)
   float Speed = 0.0f;
+
+  UPROPERTY(Category = "Walker Control", EditAnywhere, BlueprintReadWrite)
+  bool Jump = false;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.cpp

@@ -35,16 +35,22 @@ void AWalkerController::Possess(APawn *InPawn)
   }
 
   MovementComponent->MaxWalkSpeed = GetMaximumWalkSpeed();
+  MovementComponent->JumpZVelocity = 500.0f;
+  Character->JumpMaxCount = 2;
 }
 
 void AWalkerController::Tick(float DeltaSeconds)
 {
   Super::Tick(DeltaSeconds);
 
-  auto *Pawn = GetPawn();
+  auto *Character = GetCharacter();
 
-  if (Pawn != nullptr)
+  if (Character != nullptr)
   {
-    Pawn->AddMovementInput(Control.Direction, Control.Speed / GetMaximumWalkSpeed());
+    Character->AddMovementInput(Control.Direction, Control.Speed / GetMaximumWalkSpeed());
+    if (Control.Jump)
+    {
+      Character->Jump();
+    }
   }
 }