Friction trigger box is getting spawned

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp

@@ -230,6 +230,23 @@ static void AddVariationsForSensor(FActorDefinition &Def)
   Def.Variations.Emplace(Tick);
 }
 
+static void AddVariationsForTrigger(FActorDefinition &Def)
+{
+  FString Extent("extent");
+  FString Coordinates[3] = {FString("x"), FString("y"), FString("z")};
+
+  for (auto Coordinate : Coordinates)
+  {
+    FActorVariation ExtentCoordinate;
+
+    ExtentCoordinate.Id = JoinStrings(TEXT("_"), Extent, Coordinate);
+    ExtentCoordinate.Type = EActorAttributeType::Float;
+    ExtentCoordinate.RecommendedValues = { TEXT("0.0f") };
+    ExtentCoordinate.bRestrictToRecommended = false;
+
+    Def.Variations.Emplace(ExtentCoordinate);
+  }
+}
 
 FActorDefinition UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition(
     const FString &Type,
@@ -457,6 +474,16 @@ void UActorBlueprintFunctionLibrary::MakePedestrianDefinitions(
   FillActorDefinitionArray(ParameterArray, Definitions, &MakePedestrianDefinition);
 }
 
+void UActorBlueprintFunctionLibrary::MakeTriggerDefinition(
+    const FString &Id,
+    FActorDefinition &Definition)
+{
+  FillIdAndTags(Definition, TEXT("trigger"), Id);
+  AddVariationsForTrigger(Definition);
+  bool Success = CheckActorDefinition(Definition);
+  check(Success);
+}
+
 void UActorBlueprintFunctionLibrary::MakePropDefinition(
     const FPropParameters &Parameters,
     bool &Success,

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.h

@@ -92,6 +92,11 @@ public:
       const TArray<FPedestrianParameters> &ParameterArray,
       TArray<FActorDefinition> &Definitions);
 
+  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
+  static void MakeTriggerDefinition(
+      const FString &Id,
+      FActorDefinition &Definition);
+
   UFUNCTION(Category = "Carla Actor", BlueprintCallable)
   static void MakePropDefinition(
       const FPropParameters &Parameters,

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/FrictionTrigger.cpp

@@ -1,14 +1,17 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB). This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "Carla.h"
-#include "FrictionLayer.h"
-#include "CarlaWheeledVehicle.h"
+#include "FrictionTrigger.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
 
-  AFrictionLayer::AFrictionLayer(const FObjectInitializer &ObjectInitializer)
+AFrictionTrigger::AFrictionTrigger(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer)
 {
-  RootComponent = ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this,TEXT("SceneRootComponent"));
+  RootComponent = ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this, TEXT("SceneRootComponent"));
   RootComponent->SetMobility(EComponentMobility::Static);
+
   TriggerVolume = CreateDefaultSubobject<UBoxComponent>(TEXT("TriggerVolume"));
   TriggerVolume->SetupAttachment(RootComponent);
   TriggerVolume->SetHiddenInGame(true);
@@ -17,21 +20,22 @@
   TriggerVolume->SetGenerateOverlapEvents(true);
 }
 
-void AFrictionLayer::Init() {
+void AFrictionTrigger::Init()
+{
   // Register delegate on begin overlap.
-  if (!TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &AFrictionLayer::OnTriggerBeginOverlap))
+  if (!TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &AFrictionTrigger::OnTriggerBeginOverlap))
   {
-    TriggerVolume->OnComponentBeginOverlap.AddDynamic(this, &AFrictionLayer::OnTriggerBeginOverlap);
+    TriggerVolume->OnComponentBeginOverlap.AddDynamic(this, &AFrictionTrigger::OnTriggerBeginOverlap);
   }
 
   // Register delegate on end overlap.
-  if (!TriggerVolume->OnComponentEndOverlap.IsAlreadyBound(this, &AFrictionLayer::OnTriggerEndOverlap))
+  if (!TriggerVolume->OnComponentEndOverlap.IsAlreadyBound(this, &AFrictionTrigger::OnTriggerEndOverlap))
   {
-    TriggerVolume->OnComponentEndOverlap.AddDynamic(this, &AFrictionLayer::OnTriggerEndOverlap);
+    TriggerVolume->OnComponentEndOverlap.AddDynamic(this, &AFrictionTrigger::OnTriggerEndOverlap);
   }
 }
 
-void AFrictionLayer::OnTriggerBeginOverlap(
+void AFrictionTrigger::OnTriggerBeginOverlap(
     UPrimitiveComponent * /*OverlappedComp*/,
     AActor *OtherActor,
     UPrimitiveComponent * /*OtherComp*/,
@@ -39,10 +43,12 @@ void AFrictionLayer::OnTriggerBeginOverlap(
     bool /*bFromSweep*/,
     const FHitResult & /*SweepResult*/)
 {
-  ACarlaWheeledVehicle* Vehicle = CastChecked<ACarlaWheeledVehicle>(OtherActor);
-  if (Vehicle) {
+  ACarlaWheeledVehicle *Vehicle = CastChecked<ACarlaWheeledVehicle>(OtherActor);
+  if (Vehicle)
+  {
     TArray<float> WheelsFrictionScale = Vehicle->GetWheelsFrictionScale();
-    for (auto& FrictionScale : WheelsFrictionScale) {
+    for (auto &FrictionScale : WheelsFrictionScale)
+    {
       FrictionScale = 0.0f;
     }
 
@@ -50,16 +56,18 @@ void AFrictionLayer::OnTriggerBeginOverlap(
   }
 }
 
-void AFrictionLayer::OnTriggerEndOverlap(
+void AFrictionTrigger::OnTriggerEndOverlap(
     UPrimitiveComponent * /*OverlappedComp*/,
     AActor *OtherActor,
     UPrimitiveComponent * /*OtherComp*/,
     int32 /*OtherBodyIndex*/)
 {
-  ACarlaWheeledVehicle* Vehicle = CastChecked<ACarlaWheeledVehicle>(OtherActor);
-  if (Vehicle) {
+  ACarlaWheeledVehicle *Vehicle = CastChecked<ACarlaWheeledVehicle>(OtherActor);
+  if (Vehicle)
+  {
     TArray<float> WheelsFrictionScale = Vehicle->GetWheelsFrictionScale();
-    for (auto& FrictionScale : WheelsFrictionScale) {
+    for (auto &FrictionScale : WheelsFrictionScale)
+    {
       FrictionScale = 3.5f;
     }
 
@@ -67,18 +75,27 @@ void AFrictionLayer::OnTriggerEndOverlap(
   }
 }
 
-
 // Called when the game starts or when spawned
-void AFrictionLayer::BeginPlay()
+void AFrictionTrigger::BeginPlay()
 {
   Super::BeginPlay();
   Init();
 }
 
+void AFrictionTrigger::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+  // Deregister the delegate
+  if (TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &AFrictionTrigger::OnTriggerBeginOverlap))
+  {
+    TriggerVolume->OnComponentBeginOverlap.RemoveDynamic(this, &AFrictionTrigger::OnTriggerBeginOverlap);
+  }
+
+  Super::EndPlay(EndPlayReason);
+}
+
 // Called every frame
-void AFrictionLayer::Tick(float DeltaTime)
+void AFrictionTrigger::Tick(float DeltaTime)
 {
   Super::Tick(DeltaTime);
 
 }
-

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/FrictionTrigger.h

@@ -1,22 +1,26 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB). This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
 
 #include "GameFramework/Actor.h"
+#include "Components/BoxComponent.h"
 
-#include "FrictionLayer.generated.h"
+#include "FrictionTrigger.generated.h"
 
 UCLASS()
-class CARLA_API AFrictionLayer : public AActor
+class CARLA_API AFrictionTrigger : public AActor
 {
   GENERATED_BODY()
 
 private:
+
   void Init();
 
 public:
 
-  AFrictionLayer(const FObjectInitializer &ObjectInitializer);
+  AFrictionTrigger(const FObjectInitializer &ObjectInitializer);
 
   UFUNCTION()
   void OnTriggerBeginOverlap(
@@ -34,10 +38,17 @@ public:
       UPrimitiveComponent *OtherComp,
       int32 OtherBodyIndex);
 
+  void SetEpisode(const UCarlaEpisode &InEpisode)
+  {
+    Episode = &InEpisode;
+  }
+
 protected:
 
   virtual void BeginPlay() override;
 
+  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
+
 public:
 
   UPROPERTY(EditAnywhere)
@@ -45,6 +56,5 @@ public:
 
   virtual void Tick(float DeltaTime) override;
 
-
-
+  const UCarlaEpisode *Episode = nullptr;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/TriggerFactory.cpp

@@ -0,0 +1,71 @@
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Carla/Trigger/TriggerFactory.h"
+
+#include "Carla/Game/CarlaGameInstance.h"
+#include "Carla/Game/CarlaStatics.h"
+#include "Carla/Trigger/FrictionTrigger.h"
+
+#include "Carla/Game/CarlaGameInstance.h"
+
+// =============================================================================
+// -- ASensorFactory -----------------------------------------------------------
+// =============================================================================
+
+TArray<FActorDefinition> ATriggerFactory::GetDefinitions()
+{
+  FActorDefinition TriggerDefinition = FActorDefinition();
+  TriggerDefinition.Class = AFrictionTrigger::StaticClass();
+
+  TArray<FActorDefinition> TriggerDefinitions;
+
+  UActorBlueprintFunctionLibrary::MakeTriggerDefinition(TEXT("friction"), TriggerDefinition);
+  TriggerDefinitions.Add(TriggerDefinition);
+
+  return TriggerDefinitions;
+}
+
+FActorSpawnResult ATriggerFactory::SpawnActor(
+    const FTransform &Transform,
+    const FActorDescription &Description)
+{
+  auto *World = GetWorld();
+  if (World == nullptr)
+  {
+    UE_LOG(LogCarla, Error, TEXT("ATriggerFactory: cannot spawn trigger into an empty world."));
+    return {};
+  }
+
+  UCarlaGameInstance *GameInstance = UCarlaStatics::GetGameInstance(World);
+  if (GameInstance == nullptr)
+  {
+    UE_LOG(LogCarla, Error, TEXT("ATriggerFactory:: cannot spawn trigger, incompatible game instance."));
+    return {};
+  }
+
+  UE_LOG(LogCarla, Log, TEXT("%s"), *Description.Class->GetName());
+  auto *Trigger = World->SpawnActorDeferred<AFrictionTrigger>(
+      Description.Class,
+      Transform,
+      this,
+      nullptr,
+      ESpawnActorCollisionHandlingMethod::AlwaysSpawn);
+
+  if (Trigger == nullptr)
+  {
+    UE_LOG(LogCarla, Error, TEXT("ATriggerFactory:: spawn trigger failed."));
+  }
+  else
+  {
+    auto *Episode = GameInstance->GetCarlaEpisode();
+    check(Episode != nullptr);
+    Trigger->SetEpisode(*Episode);
+  }
+  UGameplayStatics::FinishSpawningActor(Trigger, Transform);
+  return FActorSpawnResult{Trigger};
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/TriggerFactory.h

@@ -0,0 +1,30 @@
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla/Actor/ActorSpawnResult.h"
+#include "Carla/Actor/CarlaActorFactory.h"
+
+#include "TriggerFactory.generated.h"
+
+/// Factory in charge of spawning sensors. This factory is able to spawn every
+/// sensor registered in carla::sensor::SensorRegistry.
+UCLASS()
+class CARLA_API ATriggerFactory : public ACarlaActorFactory
+{
+  GENERATED_BODY()
+
+  /// Retrieve the definitions of all the sensors registered in the
+  /// SensorRegistry. Sensors must implement a GetSensorDefinition() static
+  /// method.
+  TArray<FActorDefinition> GetDefinitions() final;
+
+  FActorSpawnResult SpawnActor(
+      const FTransform &SpawnAtTransform,
+      const FActorDescription &ActorDescription) final;
+
+};