p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Logic for changing the wheel collision in CarlaWheeledVehicle

This commit is contained in:
Daniel Santos-Olivan 2020-11-23 11:45:12 +01:00 committed by Axel1092
parent 3835de9b0d
commit 560dc5a56d
2 changed files with 33 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -38,6 +38,28 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
ACarlaWheeledVehicle::~ACarlaWheeledVehicle() {}
void ACarlaWheeledVehicle::SetWheelCollision(UWheeledVehicleMovementComponent4W *Vehicle4W,
const FVehiclePhysicsControl &PhysicsControl ) {
#ifdef WHEEL_SWEEP_ENABLED
const bool IsEqual = Vehicle4W->UseSweepWheelCollision == PhysicsControl.UseSweepWheelCollision;
if (IsEqual)
return;
Vehicle4W->UseSweepWheelCollision = PhysicsControl.UseSweepWheelCollision;
#else
if (PhysicsControl.UseSweepWheelCollision)
UE_LOG(LogCarla, Warning, TEXT("Error: Sweep for wheel collision is not available. \
Make sure you have installed the required patch.") );
#endif
}
void ACarlaWheeledVehicle::BeginPlay()
{
Super::BeginPlay();
@ -77,7 +99,7 @@ void ACarlaWheeledVehicle::BeginPlay()
check(Wheel != nullptr);
// Assigning new tire config
Wheel->TireConfig = NewObject<UTireConfig>();
//Wheel->TireConfig = NewObjectNewObject<UTireConfig>();
// Setting a new value to friction
Wheel->TireConfig->SetFrictionScale(FrictionScale);
@ -375,9 +397,6 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
// Transmission Setup
Vehicle4W->SteeringCurve.EditorCurveData = PhysicsControl.SteeringCurve;
// Recreate Physics State only for vehicle setup
Vehicle4W->RecreatePhysicsState();
// Wheels Setup
const int PhysicsWheelsNum = PhysicsControl.Wheels.Num();
if (PhysicsWheelsNum != 4)
@ -386,6 +405,9 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
return;
}
// Change, if required, the collision mode for wheels
SetWheelCollision(Vehicle4W, PhysicsControl);
for (int32 i = 0; i < PhysicsWheelsNum; ++i)
{
PxVehicleWheelData PWheelData = Vehicle4W->PVehicle->mWheelsSimData.getWheelData(i);
@ -400,6 +422,11 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
Vehicle4W->Wheels[i]->TireConfig->SetFrictionScale(PhysicsControl.Wheels[i].TireFriction);
}
// Recreate Physics State for vehicle setup
GetWorld()->GetPhysicsScene()->GetPxScene()->lockWrite();
Vehicle4W->RecreatePhysicsState();
GetWorld()->GetPhysicsScene()->GetPxScene()->unlockWrite();
auto * Recorder = UCarlaStatics::GetRecorder(GetWorld());
if (Recorder && Recorder->IsEnabled())
{

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -118,6 +118,8 @@ public:
void ApplyVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl);
void SetWheelCollision(UWheeledVehicleMovementComponent4W *Vehicle4W, const FVehiclePhysicsControl &PhysicsControl);
void SetVehicleLightState(const FVehicleLightState &LightState);
/// @}