From 5b59d9ad14ddd68951b335a7b1cf4d8204b7bf15 Mon Sep 17 00:00:00 2001
From: Axel <axellopez92@outlook.com>
Date: Wed, 20 Jan 2021 17:54:43 +0100
Subject: [PATCH] Removed double check for carsim mode.

---
 .../Carla/Source/Carla/Server/CarlaServer.cpp |  6 +----
 .../Carla/Vehicle/CarlaWheeledVehicle.cpp     | 26 ++++++++++---------
 2 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 5de6e6164..871ad6763 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -920,11 +920,7 @@ void FCarlaServer::FPimpl::BindActions()
     auto* CarlaVehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
     // The physics in the vehicles works in a different way so to disable them.
     if (CarlaVehicle != nullptr){
-      // Ignore the call for carsim
-      if (!CarlaVehicle->GetCarlaMovementComponent<UCarSimManagerComponent>())
-      {
-        CarlaVehicle->SetSimulatePhysics(bEnabled);
-      }
+      CarlaVehicle->SetSimulatePhysics(bEnabled);
     }
     // The physics in the walkers also works in a different way so to disable them,
     // we need to do it in the UCharacterMovementComponent.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
index d7367be64..f231f523a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -454,6 +454,11 @@ void ACarlaWheeledVehicle::SetCarlaMovementComponent(UBaseCarlaMovementComponent
 }
 
 void ACarlaWheeledVehicle::SetSimulatePhysics(bool enabled) {
+  if(!GetCarlaMovementComponent<UDefaultMovementComponent>())
+  {
+    return;
+  }
+
   UWheeledVehicleMovementComponent4W *Vehicle4W = Cast<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovement());
   check(Vehicle4W != nullptr);
@@ -462,19 +467,16 @@ void ACarlaWheeledVehicle::SetSimulatePhysics(bool enabled) {
     return;
 
   SetActorEnableCollision(true);
-  if(!GetCarlaMovementComponent<UCarSimManagerComponent>())
-  {
-    auto RootComponent = Cast<UPrimitiveComponent>(GetRootComponent());
-    RootComponent->SetSimulatePhysics(enabled);
-    RootComponent->SetCollisionEnabled(ECollisionEnabled::QueryAndPhysics);
+  auto RootComponent = Cast<UPrimitiveComponent>(GetRootComponent());
+  RootComponent->SetSimulatePhysics(enabled);
+  RootComponent->SetCollisionEnabled(ECollisionEnabled::QueryAndPhysics);
 
-    GetWorld()->GetPhysicsScene()->GetPxScene()->lockWrite();
-    if(enabled)
-      Vehicle4W->RecreatePhysicsState();
-    else
-      Vehicle4W->DestroyPhysicsState();
-    GetWorld()->GetPhysicsScene()->GetPxScene()->unlockWrite();
-  }
+  GetWorld()->GetPhysicsScene()->GetPxScene()->lockWrite();
+  if(enabled)
+    Vehicle4W->RecreatePhysicsState();
+  else
+    Vehicle4W->DestroyPhysicsState();
+  GetWorld()->GetPhysicsScene()->GetPxScene()->unlockWrite();
 
   bPhysicsEnabled = enabled;
 }