Upgrade to UE4.21
This commit is contained in:
nsubiron
parent
89af74d967
commit
6c8499c8c9
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@ -13,10 +13,10 @@ matrix:
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apt:
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sources:
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- ubuntu-toolchain-r-test
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- llvm-toolchain-trusty-5.0
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- llvm-toolchain-trusty-6.0
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packages:
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- g++-7 # we need this one for the libstdc++.
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- clang-5.0
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- clang-6.0
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- ninja-build
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- python
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- python-pip
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@ -1,5 +1,6 @@
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## Latest changes
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* Upgraded to Unreal Engine 4.21
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* Upgraded Boost to 1.69.0
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* Added point transformation functionality for LibCarla and PythonAPI
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* Added "sensor_tick" attribute to sensors (cameras and lidars) to specify the capture rate in seconds
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@ -11,7 +11,7 @@ process.
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In Linux, we compile CARLA and all the dependencies with clang-5.0 and C++14
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In Linux, we compile CARLA and all the dependencies with clang-6.0 and C++14
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standard. We however link against different runtime C++ libraries depending on
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where the code going to be used, since all the code that is going to be linked
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with Unreal Engine needs to be compiled using `libc++`.
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@ -26,7 +26,7 @@ make setup
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Get and compile dependencies
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* llvm-5.0 (libc++ and libc++abi)
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* llvm-6.0 (libc++ and libc++abi)
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* rpclib-2.2.1 (twice, with libstdc++ and libc++)
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* boost-1.69 (headers only)
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* googletest-1.8.0 (with libc++)
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@ -53,7 +53,7 @@ Two configurations:
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#### CarlaUE4 and Carla plugin
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Both compiled at the same step with Unreal Engine 4.19 build tool. They require
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Both compiled at the same step with Unreal Engine 4.21 build tool. They require
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the `UE4_ROOT` environment variable set.
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Command
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@ -27,7 +27,7 @@ C++
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* Comments should not exceed 80 columns, code may exceed this limit a bit in
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rare occasions if it results in clearer code.
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* Compilation should not give any error or warning
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(`clang++ -Wall -Wextra -std=C++14 -Wno-missing-braces`).
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(`clang++-6.0 -Wall -Wextra -std=C++14 -Wno-missing-braces`).
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* Unreal C++ code (CarlaUE4 and Carla plugin) follow the
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[Unreal Engine's Coding Standard][ue4link] with the exception of using
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spaces instead of tabs.
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@ -8,20 +8,20 @@ Install the build tools and dependencies
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```
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sudo add-apt-repository ppa:ubuntu-toolchain-r/test
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sudo apt-get update
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sudo apt-get install build-essential clang-5.0 lld-5.0 g++-7 cmake ninja-build python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl wget unzip autoconf libtool
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sudo apt-get install build-essential clang-6.0 lld-6.0 g++-7 cmake ninja-build python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl wget unzip autoconf libtool
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pip2 install --user setuptools nose2
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pip3 install --user setuptools nose2
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```
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To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
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the best configuration is to compile everything with the same compiler version
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and C++ runtime library. We use clang 5.0 and LLVM's libc++. We recommend to
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and C++ runtime library. We use clang 6.0 and LLVM's libc++. We recommend to
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change your default clang version to compile Unreal Engine and the CARLA
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dependencies
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```sh
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sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-5.0/bin/clang++ 101
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sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-5.0/bin/clang 101
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sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-6.0/bin/clang++ 102
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sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-6.0/bin/clang 102
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```
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Build Unreal Engine
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@ -32,13 +32,13 @@ Build Unreal Engine
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need to add your GitHub username when you sign up at
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[www.unrealengine.com](https://www.unrealengine.com).
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Download and compile Unreal Engine 4.19. Here we will assume you install it at
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`~/UnrealEngine_4.19", but you can install it anywhere, just replace the path
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Download and compile Unreal Engine 4.21. Here we will assume you install it at
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`~/UnrealEngine_4.21", but you can install it anywhere, just replace the path
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where necessary.
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```sh
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git clone --depth=1 -b 4.19 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.19
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cd ~/UnrealEngine_4.19
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git clone --depth=1 -b 4.21 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.21
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cd ~/UnrealEngine_4.21
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./Setup.sh && ./GenerateProjectFiles.sh && make
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```
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@ -71,7 +71,7 @@ For CARLA to find your Unreal Engine's installation folder you need to set the
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following environment variable
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```sh
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export UE4_ROOT=~/UnrealEngine_4.19
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export UE4_ROOT=~/UnrealEngine_4.21
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```
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You can also add this variable to your `~/.bashrc` or `~/.profile`.
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@ -15,7 +15,7 @@
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Also:
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- [Unreal Engine](https://www.unrealengine.com/download) (v4.19.x)
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- [Unreal Engine](https://www.unrealengine.com/download) (v4.21.x)
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- [Visual Studio](https://www.visualstudio.com/downloads/) (2017)
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<h3>Environment Setup</h3>
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@ -2,7 +2,7 @@ pipeline {
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agent any
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environment {
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UE4_ROOT = '/var/lib/jenkins/UnrealEngine_4.19'
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UE4_ROOT = '/var/lib/jenkins/UnrealEngine_4.21'
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}
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options {
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@ -9,7 +9,14 @@
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#include "carla/NonCopyable.h"
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#ifdef LIBCARLA_WITH_PYTHON_SUPPORT
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# include <boost/python.hpp>
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# if defined(__clang__)
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# pragma clang diagnostic push
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# pragma clang diagnostic ignored "-Wdeprecated-register"
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# endif
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# include <boost/python.hpp>
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# if defined(__clang__)
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# pragma clang diagnostic pop
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# endif
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#endif // LIBCARLA_WITH_PYTHON_SUPPORT
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namespace carla {
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@ -7,6 +7,8 @@
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#ifndef LIBCARLA_INCLUDED_DISABLE_UE4_MACROS_HEADER
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#define LIBCARLA_INCLUDED_DISABLE_UE4_MACROS_HEADER
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#include "Carla.h"
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#ifndef BOOST_ERROR_CODE_HEADER_ONLY
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# define BOOST_ERROR_CODE_HEADER_ONLY
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#endif // BOOST_ERROR_CODE_HEADER_ONLY
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@ -1,6 +1,6 @@
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{
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"FileVersion": 3,
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"EngineAssociation": "4.19",
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"EngineAssociation": "4.21",
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"Category": "",
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"Description": "",
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"Modules": [
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@ -28,13 +28,13 @@ r.DefaultFeature.AmbientOcclusionStaticFraction=False
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r.DefaultFeature.AutoExposure=False
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r.CustomDepth=3
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r.Streaming.PoolSize=2000
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r.TextureStreaming=False
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r.TextureStreaming=True
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[/Script/AIModule.AISense_Sight]
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bAutoRegisterAllPawnsAsSources=False
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bAutoRegisterNewPawnsAsSources=False
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[/Script/Engine.RecastNavMesh]
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[/Script/NavigationSystem.RecastNavMesh]
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RuntimeGeneration=Static
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[/Script/AIModule.CrowdManager]
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@ -53,6 +53,7 @@ bEnablePCM=False
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bEnableStabilization=False
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bWarnMissingLocks=True
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bEnable2DPhysics=False
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PhysicErrorCorrection=(PingExtrapolation=0.100000,PingLimit=100.000000,ErrorPerLinearDifference=1.000000,ErrorPerAngularDifference=1.000000,MaxRestoredStateError=1.000000,MaxLinearHardSnapDistance=400.000000,PositionLerp=0.000000,AngleLerp=0.400000,LinearVelocityCoefficient=100.000000,AngularVelocityCoefficient=10.000000,ErrorAccumulationSeconds=0.500000,ErrorAccumulationDistanceSq=15.000000,ErrorAccumulationSimilarity=100.000000)
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LockedAxis=Invalid
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DefaultDegreesOfFreedom=Full3D
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BounceThresholdVelocity=200.000000
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@ -69,6 +70,8 @@ bDefaultHasComplexCollision=True
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bSuppressFaceRemapTable=False
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bSupportUVFromHitResults=False
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bDisableActiveActors=False
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bDisableKinematicStaticPairs=False
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bDisableKinematicKinematicPairs=False
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bDisableCCD=False
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bEnableEnhancedDeterminism=False
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MaxPhysicsDeltaTime=0.333330
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@ -80,5 +83,14 @@ SyncSceneSmoothingFactor=0.000000
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AsyncSceneSmoothingFactor=0.990000
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InitialAverageFrameRate=0.016667
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PhysXTreeRebuildRate=10
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DefaultBroadphaseSettings=(bUseMBPOnClient=False,bUseMBPOnServer=False,MBPBounds=(Min=(X=0.000000,Y=0.000000,Z=0.000000),Max=(X=0.000000,Y=0.000000,Z=0.000000),IsValid=0),MBPNumSubdivs=2)
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[/Script/LinuxTargetPlatform.LinuxTargetSettings]
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SpatializationPlugin=
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ReverbPlugin=
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OcclusionPlugin=
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-TargetedRHIs=SF_VULKAN_SM5
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-TargetedRHIs=GLSL_430
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+TargetedRHIs=GLSL_430
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@ -26,7 +26,7 @@ UAgentComponent::UAgentComponent(const FObjectInitializer& ObjectInitializer)
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{
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bVisible = false;
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bHiddenInGame = true;
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bShouldUpdatePhysicsVolume = false;
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SetShouldUpdatePhysicsVolume(false);
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PrimaryComponentTick.bCanEverTick = false;
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}
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@ -8,6 +8,8 @@ public class Carla : ModuleRules
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{
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public Carla(ReadOnlyTargetRules Target) : base(Target)
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{
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PrivatePCHHeaderFile = "Carla.h";
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PublicIncludePaths.AddRange(
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new string[] {
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// ... add public include paths required here ...
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@ -115,7 +117,6 @@ public class Carla : ModuleRules
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}
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else
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{
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PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("c++abi")));
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PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
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if (UseDebugLibs(Target))
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{
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@ -70,7 +70,7 @@ public:
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/// @{
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UFUNCTION(BlueprintCallable)
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const FTransform &GetTransform() const
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const FTransform &GetPlayerTransform() const
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{
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return Transform;
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}
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@ -263,9 +263,9 @@ bool URoadMap::SaveAsPNG(const FString &Folder, const FString &MapName) const
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const FIntPoint DestSize(Width, Height);
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FString ResultPath;
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FHighResScreenshotConfig &HighResScreenshotConfig = GetHighResScreenshotConfig();
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HighResScreenshotConfig.SetHDRCapture(false);
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HighResScreenshotConfig.SaveImage(ImagePath, BitMap, DestSize, &ResultPath);
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// FHighResScreenshotConfig &HighResScreenshotConfig = GetHighResScreenshotConfig();
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// HighResScreenshotConfig.SetHDRCapture(false);
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// HighResScreenshotConfig.SaveImage(ImagePath, BitMap, DestSize, &ResultPath);
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// Save metadata.
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FFormatNamedArguments Args;
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@ -92,20 +92,21 @@ bool FPixelReader::WritePixelsToArray(
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}
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bool FPixelReader::SavePixelsToDisk(
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UTextureRenderTarget2D &RenderTarget,
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const FString &FilePath)
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UTextureRenderTarget2D &/*RenderTarget*/,
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const FString &/*FilePath*/)
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{
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TArray<FColor> OutBMP;
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if (!WritePixelsToArray(RenderTarget, OutBMP)) {
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return false;
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}
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for (FColor &color : OutBMP) {
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color.A = 255u;
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}
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const FIntPoint DestSize(RenderTarget.GetSurfaceWidth(), RenderTarget.GetSurfaceHeight());
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FString ResultPath;
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FHighResScreenshotConfig &HighResScreenshotConfig = GetHighResScreenshotConfig();
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return HighResScreenshotConfig.SaveImage(FilePath, OutBMP, DestSize, &ResultPath);
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return false;
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// TArray<FColor> OutBMP;
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// if (!WritePixelsToArray(RenderTarget, OutBMP)) {
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// return false;
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// }
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// for (FColor &color : OutBMP) {
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// color.A = 255u;
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// }
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// const FIntPoint DestSize(RenderTarget.GetSurfaceWidth(), RenderTarget.GetSurfaceHeight());
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// FString ResultPath;
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// FHighResScreenshotConfig &HighResScreenshotConfig = GetHighResScreenshotConfig();
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// return HighResScreenshotConfig.SaveImage(FilePath, OutBMP, DestSize, &ResultPath);
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}
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void FPixelReader::WritePixelsToBuffer(
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@ -95,7 +95,7 @@ void FCarlaEncoder::Encode(
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Data.platform_timestamp = PlayerState.GetPlatformTimeStamp();
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Data.game_timestamp = PlayerState.GetGameTimeStamp();
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auto &Player = Data.player_measurements;
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::Encode(PlayerState.GetTransform(), Player.transform);
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::Encode(PlayerState.GetPlayerTransform(), Player.transform);
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::Encode(PlayerState.GetBoundingBoxTransform(), Player.bounding_box.transform);
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::Encode(PlayerState.GetBoundingBoxExtent() * TO_METERS, Player.bounding_box.extent);
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::Encode(PlayerState.GetAcceleration() * TO_METERS, Player.acceleration);
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@ -6,12 +6,16 @@
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#pragma once
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#include "Carla/Settings/QualityLevelUE.h"
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#include "CoreMinimal.h"
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#include "Engine/StaticMesh.h"
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#include "Engine/World.h"
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#include "CarlaSettingsDelegate.generated.h"
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class UCarlaSettings;
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/// Used to set settings for every actor that is spawned into the world.
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UCLASS(BlueprintType)
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class CARLA_API UCarlaSettingsDelegate : public UObject
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@ -57,7 +57,7 @@ ARoutePlanner::ARoutePlanner(const FObjectInitializer &ObjectInitializer)
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TriggerVolume->SetHiddenInGame(true);
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TriggerVolume->SetMobility(EComponentMobility::Static);
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TriggerVolume->SetCollisionProfileName(FName("OverlapAll"));
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TriggerVolume->bGenerateOverlapEvents = true;
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TriggerVolume->SetGenerateOverlapEvents(true);
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// Do not change default value here, our autopilot depends on this.
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TriggerVolume->SetBoxExtent(FVector{32.0f, 32.0f, 32.0f});
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@ -6,6 +6,8 @@ public class CarlaUE4 : ModuleRules
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{
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public CarlaUE4(ReadOnlyTargetRules Target) : base(Target)
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{
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PrivatePCHHeaderFile = "CarlaUE4.h";
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PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore" });
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PrivateDependencyModuleNames.AddRange(new string[] { });
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@ -23,7 +23,7 @@ set BUILD_CARLAUE4_EDITOR=false
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set LAUNCH_UE4_EDITOR=false
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set REMOVE_INTERMEDIATE=false
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set UE_VERSION=4.19
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set UE_VERSION=4.21
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:arg-parse
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if not "%1"=="" (
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@ -2,8 +2,8 @@
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source $(dirname "$0")/Environment.sh
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export CC=clang-5.0
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export CXX=clang++-5.0
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export CC=clang-6.0
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export CXX=clang++-6.0
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# ==============================================================================
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# -- Parse arguments -----------------------------------------------------------
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@ -24,7 +24,7 @@ set DO_COPY_FILES=true
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set DO_TARBALL=true
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set DO_CLEAN=false
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set UE_VERSION=4.19
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set UE_VERSION=4.21
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:arg-parse
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if not "%1"=="" (
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@ -4,14 +4,14 @@
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# -- Set up environment --------------------------------------------------------
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# ==============================================================================
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command -v /usr/bin/clang++-5.0 >/dev/null 2>&1 || {
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echo >&2 "clang 5.0 is required, but it's not installed.";
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echo >&2 "make sure you build Unreal Engine with clang 5.0 too.";
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command -v /usr/bin/clang++-6.0 >/dev/null 2>&1 || {
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echo >&2 "clang 6.0 is required, but it's not installed.";
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echo >&2 "make sure you build Unreal Engine with clang 6.0 too.";
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exit 1;
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}
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export CC=/usr/bin/clang-5.0
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export CXX=/usr/bin/clang++-5.0
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export CC=/usr/bin/clang-6.0
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export CXX=/usr/bin/clang++-6.0
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source $(dirname "$0")/Environment.sh
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@ -22,7 +22,7 @@ pushd ${CARLA_BUILD_FOLDER} >/dev/null
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# -- Get and compile libc++ ----------------------------------------------------
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# ==============================================================================
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LLVM_BASENAME=llvm-5.0
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LLVM_BASENAME=llvm-6.0
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LLVM_INCLUDE=${PWD}/${LLVM_BASENAME}-install/include/c++/v1
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LLVM_LIBPATH=${PWD}/${LLVM_BASENAME}-install/lib
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@ -34,9 +34,9 @@ else
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log "Retrieving libc++."
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|
||||
git clone --depth=1 -b release_50 https://github.com/llvm-mirror/llvm.git ${LLVM_BASENAME}-source
|
||||
git clone --depth=1 -b release_50 https://github.com/llvm-mirror/libcxx.git ${LLVM_BASENAME}-source/projects/libcxx
|
||||
git clone --depth=1 -b release_50 https://github.com/llvm-mirror/libcxxabi.git ${LLVM_BASENAME}-source/projects/libcxxabi
|
||||
git clone --depth=1 -b release_60 https://github.com/llvm-mirror/llvm.git ${LLVM_BASENAME}-source
|
||||
git clone --depth=1 -b release_60 https://github.com/llvm-mirror/libcxx.git ${LLVM_BASENAME}-source/projects/libcxx
|
||||
git clone --depth=1 -b release_60 https://github.com/llvm-mirror/libcxxabi.git ${LLVM_BASENAME}-source/projects/libcxxabi
|
||||
|
||||
log "Compiling libc++."
|
||||
|
||||
|
|
@ -58,8 +58,8 @@ else
|
|||
popd >/dev/null
|
||||
|
||||
# Workaround, it seems LLVM 5.0 does not install these files.
|
||||
cp -v ${LLVM_BASENAME}-build/include/c++/v1/cxxabi.h ${LLVM_INCLUDE}
|
||||
cp -v ${LLVM_BASENAME}-build/include/c++/v1/__cxxabi_config.h ${LLVM_INCLUDE}
|
||||
# cp -v ${LLVM_BASENAME}-build/include/c++/v1/cxxabi.h ${LLVM_INCLUDE}
|
||||
# cp -v ${LLVM_BASENAME}-build/include/c++/v1/__cxxabi_config.h ${LLVM_INCLUDE}
|
||||
|
||||
rm -Rf ${LLVM_BASENAME}-source ${LLVM_BASENAME}-build
|
||||
|
||||
|
|
@ -92,7 +92,7 @@ else
|
|||
|
||||
pushd ${BOOST_BASENAME}-source >/dev/null
|
||||
|
||||
BOOST_TOOLSET="clang-5.0"
|
||||
BOOST_TOOLSET="clang-6.0"
|
||||
BOOST_CFLAGS="-fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY"
|
||||
|
||||
py2="/usr/bin/env python2"
|
||||
|
|
@ -277,7 +277,7 @@ set(CMAKE_CXX_COMPILER ${CXX})
|
|||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -std=c++14 -pthread -fPIC" CACHE STRING "" FORCE)
|
||||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra" CACHE STRING "" FORCE)
|
||||
# See https://bugs.llvm.org/show_bug.cgi?id=21629
|
||||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wno-missing-braces" CACHE STRING "" FORCE)
|
||||
# set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wno-missing-braces" CACHE STRING "" FORCE)
|
||||
|
||||
# @todo These flags need to be compatible with setup.py compilation.
|
||||
set(CMAKE_CXX_FLAGS_RELEASE_CLIENT "\${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY -DLIBCARLA_ENABLE_LIFETIME_PROFILER -DLIBCARLA_WITH_PYTHON_SUPPORT" CACHE STRING "" FORCE)
|
||||
|
|
|
|||
|
|
@ -12,20 +12,20 @@ help:
|
|||
@type "${CARLA_BUILD_TOOLS_FOLDER}\Windows.mk.help"
|
||||
|
||||
launch: LibCarla
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --build --ue-version 4.19
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --build --ue-version 4.21
|
||||
|
||||
launch-editor: LibCarla
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --launch-editor
|
||||
|
||||
package: PythonAPI
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/Package.bat" --ue-version 4.19
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/Package.bat" --ue-version 4.21
|
||||
|
||||
docs:
|
||||
@doxygen
|
||||
@echo "Documentation index at ./Doxygen/html/index.html"
|
||||
|
||||
clean:
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/Package.bat" --clean --ue-version 4.19
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/Package.bat" --clean --ue-version 4.21
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --clean
|
||||
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.bat" --clean
|
||||
|
|
@ -34,7 +34,7 @@ clean:
|
|||
rebuild: setup
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --rebuild
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.bat" --rebuild
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --rebuild --ue-version 4.19
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --rebuild --ue-version 4.21
|
||||
|
||||
check: PythonAPI
|
||||
@echo "Not implemented!"
|
||||
|
|
@ -43,7 +43,7 @@ benchmark: LibCarla
|
|||
@echo "Not implemented!"
|
||||
|
||||
CarlaUE4Editor: LibCarla
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --build-editor --ue-version 4.19
|
||||
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.bat" --build-editor --ue-version 4.21
|
||||
|
||||
.PHONY: PythonAPI
|
||||
PythonAPI: LibCarla
|
||||
|
|
|
|||
Loading…
Reference in New Issue