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Added speed limit to FActorData.

This commit is contained in:
Axel 2021-06-22 17:13:53 +02:00 committed by bernat
parent cccb2755eb
commit 6f0c9acc55
3 changed files with 13 additions and 1 deletions
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10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorData.cpp
View File

@ -104,6 +104,11 @@ void FVehicleData::RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* Carla
}
Control = Vehicle->GetVehicleControl();
LightState = Vehicle->GetVehicleLightState();
auto Controller = Cast<AWheeledVehicleAIController>(Vehicle->GetController());
if (Controller)
{
SpeedLimit = Controller->GetSpeedLimit();
}
}
void FVehicleData::RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode)
@ -118,6 +123,11 @@ void FVehicleData::RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* Carl
}
Vehicle->ApplyVehicleControl(Control, EVehicleInputPriority::Client);
Vehicle->SetVehicleLightState(LightState);
auto Controller = Cast<AWheeledVehicleAIController>(Vehicle->GetController());
if (Controller)
{
Controller->SetSpeedLimit(SpeedLimit);
}
}
void FWalkerData::RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode)

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorData.h
View File

@ -59,6 +59,8 @@ public:
FVehicleLightState LightState;
float SpeedLimit = 30;
virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
View File

@ -171,7 +171,7 @@ static auto FWorldObserver_GetDormantActorState(const FCarlaActor &View, const F
state.vehicle_data.control = carla::rpc::VehicleControl{ActorData->Control};
using TLS = carla::rpc::TrafficLightState;
state.vehicle_data.traffic_light_state = TLS::Green;
state.vehicle_data.speed_limit = 30;
state.vehicle_data.speed_limit = ActorData->SpeedLimit;
state.vehicle_data.has_traffic_light = false;
}
else if (AType::Walker == View.GetActorType())