From 51fde10129ea634ba14033919fe25df5f18aacc6 Mon Sep 17 00:00:00 2001
From: JavierGR <jgr.cs202x@gmail.com>
Date: Thu, 3 Aug 2023 14:25:44 +0200
Subject: [PATCH] Fixing replayer crash when running in multi gpu mode

---
 .../Carla/Source/Carla/Game/FrameData.cpp     | 52 ++++++++-----------
 1 file changed, 23 insertions(+), 29 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp
index 999ef9510..4d4dbaa4d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp
@@ -420,43 +420,37 @@ void FFrameData::AddVehicleWheelsAnimation(FCarlaActor *CarlaActor)
     return;
   if (CarlaActor->GetActorType() != FCarlaActor::ActorType::Vehicle)
     return;
+
   ACarlaWheeledVehicle* CarlaVehicle = Cast<ACarlaWheeledVehicle>(CarlaActor->GetActor());
-  check(CarlaVehicle != nullptr)
+  if (CarlaVehicle == nullptr)
+    return;
+
   USkeletalMeshComponent* SkeletalMesh = CarlaVehicle->GetMesh();
-  check(SkeletalMesh != nullptr)
+  if (SkeletalMesh == nullptr)
+    return;
+
   UVehicleAnimInstance* VehicleAnim = Cast<UVehicleAnimInstance>(SkeletalMesh->GetAnimInstance());
-  check(VehicleAnim != nullptr)
+  if (VehicleAnim == nullptr)
+    return;
+
   const UWheeledVehicleMovementComponent* WheeledVehicleMovementComponent = VehicleAnim->GetWheeledVehicleMovementComponent();
-  check(WheeledVehicleMovementComponent != nullptr)
+  if (WheeledVehicleMovementComponent == nullptr)
+    return;
 
   CarlaRecorderAnimWheels Record;
   Record.DatabaseId = CarlaActor->GetActorId();
+  Record.WheelValues.reserve(WheeledVehicleMovementComponent->Wheels.Num());
 
-  WheelInfo FL;
-  FL.Location = EVehicleWheelLocation::FL_Wheel;
-  FL.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(FL.Location);
-  FL.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(FL.Location)]->GetRotationAngle();
-
-  WheelInfo FR;
-  FR.Location = EVehicleWheelLocation::FR_Wheel;
-  FR.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(FR.Location);
-  FR.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(FR.Location)]->GetRotationAngle();
-
-  WheelInfo BL;
-  BL.Location = EVehicleWheelLocation::BL_Wheel;
-  BL.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(BL.Location);
-  BL.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(BL.Location)]->GetRotationAngle();
-
-  WheelInfo BR;
-  BR.Location = EVehicleWheelLocation::BR_Wheel;
-  BR.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(BR.Location);
-  BR.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(BR.Location)]->GetRotationAngle();
-
-  Record.WheelValues.reserve(4);
-  Record.WheelValues.push_back(FL);
-  Record.WheelValues.push_back(FR);
-  Record.WheelValues.push_back(BL);
-  Record.WheelValues.push_back(BR);
+  uint8 i = 0;
+  for (auto Wheel : WheeledVehicleMovementComponent->Wheels)
+  {
+    WheelInfo Info;
+    Info.Location = static_cast<EVehicleWheelLocation>(i);
+    Info.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(Info.Location);
+    Info.TireRotation = Wheel->GetRotationAngle();
+    Record.WheelValues.push_back(Info);
+    ++i;
+  }
 
   AddAnimVehicleWheels(Record);